Skip to main content
SpringerLink
Log in

Review of Control and Sensor System of Flexible Manipulator

  • Published:
Journal of Intelligent & Robotic Systems Aims and scope Submit manuscript

Abstract

Over the last few decades, extensive use of flexible manipulators in various robotic applications has made it as one of the research interests for many scholars over the world. Recent studies on the modeling, sensor systems and controllers for the applications of flexible robotic manipulators are reviewed in order to complement the previous literature surveyed by Benosman & Vey (Robotica 22:533–545, 2004) and Dwivedy & Eberhard (Mech. Mach. Theory 41:749–777, 2006) . A brief introduction of the essential modeling techniques is first presented, followed by a review of the practical alternatives of sensor systems that can help scientists or engineers to choose the appropriate sensors for their applications. It followed by the main goal of this paper with a comprehensive review of the control strategies for the flexible manipulators and flexible joints that were studied in recent literatures. The issues for controlling flexible manipulators are highlighted. Most of the noteworthy control techniques that were not covered in the recent surveys in references (Benosman & Vey Robotica 22:533–545, 2004; Dwivedy & Eberhard Mech. Mach. Theory 41:749–777, 2006) are then reviewed. It concludes by providing some possible issues for future research works.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. Benosman, M., Le Vey, G.: Control of flexible manipulators: A survey. Robotica 22, 533–545 (2004)

    Article  Google Scholar 

  2. Dwivedy, S.K., Eberhard, P.: Dynamic analysis of flexible manipulators, a literature review. Mech. Mach. Theory 41, 749–777 (2006)

    Article  MATH  MathSciNet  Google Scholar 

  3. Becedas, J., Feliu, V., Sira-Ramírez, H.: GPI Control for a Single-Link Flexible Manipulator. In: Proceedings of the World Congress on Engineering and Computer Science, WCECS 2007, San Francisco (2007)

  4. Tokhi, M.O., Azad, A.K.M.: Flexible Robot Manipulators: Modelling, simulation and control. Volume 68 of IET control engineering series, Institution of Electrical Engineers, ISSN pp. 0262–1797 (2008)

  5. Wang, F.Y., Gao, Y.Q.: Advanced studies of flexible robotic manipulators, modelling, design, control and applications. Vol. 4. World Scientific publishing (2003)

  6. Pereira, E., Ciudad, R., Aphale, S.S., Feliu, V., Moheimani, S.O.R.: A hybrid control strategy for vibration damping and precise tip-positioning of a single-link flexible manipulator. IEEE 2009 International Conference on Mechatronics, ICM 2009 (2009)

  7. Min, G., Jean-Claude, P.: A flexible-arm as manipulator position and force detection unit. Control. Eng. Pract. 11(2003), 1433–1448 (2003)

    Google Scholar 

  8. De Carufel, J., Martin, E., Piedboeuf, J.-C.: Investigation of the control strategies for hardware-in-the-loop simulation of flexible space robots. IEE Proc.-Control Theory Appl. 147(6), 569–579 (2000)

    Article  Google Scholar 

  9. Chloe, A.: Mars curiosity rover begins one-month downtime. PC Magazine. http://www.pcmag.com/article2/0,2817,2417464,00.asp (2013). Accessed 26 August 2013

  10. Zarafshan, P., Moosavian, S.A.A.: Fuzzy tuning manipulation control of a space robot with passive flexible solar panels. 2011 International Conference on Mechatronics and Automation (ICMA), pp. 404–409 (2011)

  11. WeiMin, T., Mingjun, Z., Liu, M., Yun, X.: Residual vibration analysis and suppression for SCARA robots in semiconductor manufacturing. International Conference on Intelligent Robots and Systems, IEEE/RSJ 2006, pp. 5153–5158 (2006)

  12. Every Week is Robotics Week at a Nuclear Plant. National Robotics week http://nuclear.duke-energy.com/2013/04/09/every-week-is-robotics-week-at-a-nuclear-plant/ (2013). Accessed 26 August 2013

  13. SRR Uses Robots Instead of Employees for Hazardous Work. Savannah River Remediation. http://srremediation.com/robots.html (2012). Accessed 30 August 2013

  14. Military Ground Robot Mobile Platform Systems of Engagement: Market Shares, Strategies, and Forecasts, Worldwide, 2013 to 2019. WinterGreen Research (May 22, 2013). http://www.marketresearch.com/Wintergreen-Research-v739/Military-Ground-Robot-Mobile-Platform-7586354/ (2013). Accessed 1 September 2013

  15. Sandy M.: Latest in robotic surgery comes to Torrance. dailybreeze.com. http://www.dailybreeze.com/news/ci_23365097/latest-robotic-surgery-comes-torrance (2013). Accessed 1 September 2013

  16. Robots are future for Australian agriculture. Fresh Plaza. http://www.freshplaza.com/news_detail.asp?id=109750#SlideFrame_1 (2013). Accessed 2 September 2013

  17. Domestic Robot to Help Sick Elderly Live Independently Longer. Science Daily. http://www.sciencedaily.com/releases/2010/04/100422085218htm (2010). Accessed 4 September 2013

  18. Robot-Staffed Restaurant Launches in Germany. Msparkes. http://gizmodo.com/295454/robot+staffed-restaurant-launches-in-germany (2007). Accessed 6 September 2013

  19. Akira, A.: Trajectory planning for residual vibration suppression of a two-link rigid-flexible manipulator considering large deformation. Mech. Mach. Theory 44(9), 1627–1639 (2009)

    Article  MATH  Google Scholar 

  20. Benaroya, H., Nagurka, M.L.: Mechanical vibration: Analysis, Uncertainties, and Control, 3rd edition. CRC Press (2009)

  21. Hagedorn, P., DasGupta, A.: Vibrations and waves in continuous mechanical systems. Wiley (2007)

  22. Dogan, M., Morgül, Ö.: On the control of two-link flexible robot arm with nonuniform cross section. J. Vib. Control. 16(5), 619–646 (2010)

    Article  MATH  MathSciNet  Google Scholar 

  23. Zhang, L., Liu, J.: Observer-based partial differential equation boundary control for a flexible two-link manipulator in task space. IET Control Theory Appl. 6(13), 2120–2133 (2012)

    Article  MathSciNet  Google Scholar 

  24. Zhang, X., Xu, W., Nair, S.S., Chelaboina, V.: PDE modeling and control of a flexible two-link manipulator. IEEE Trans. Control Syst. Technol. 13(2), 301–312 (2005)

    Article  Google Scholar 

  25. Nguyen, T.D., Egeland, O.: Infinite dimensional observer for a flexible robot arm with a tip load. Asian J. Control 10(4), 456–461 (2008)

    Article  MathSciNet  Google Scholar 

  26. Seidi, M., Markazi, A.H.D.: Model-based fuzzy control of flexible joint manipulator: a LMI approach. In: Proceeding of the Fifth International Symposium on Mechatronics and its Applications, pp. 1–5 (2008)

  27. Xiaodong, Z., Qingxuan, J., Hanxu, S., Ming, C.: Adaptive control of manipulator flexible-joint with friction compensation using LuGre model. In: Proceedings of the IEEE Symposium on Industrial Electronics and Applications, pp. 1234–1239 (2008)

  28. Korayem, M.H., Nikoobin, A.: Maximum payload for flexible joint manipulators in point-to-point task using optimal control approach. Int. J. Adv. Manuf. Technol. 38, 1045–1060 (2008)

    Article  Google Scholar 

  29. Chengxin, Z., Yueqing, Y.: Dynamic modelling of robot arm with joint flexibility and link flexibility manipulating a constrained object. Jixie Gongcheng Xuebao/Chin. J. Mech. Eng. 39(6), 9–12 (2003)

    Article  Google Scholar 

  30. Boyer, Frédéric, Coiffet, Philippe: Generalization of Newton-Euler model for flexible manipulators. J. Robot. Syst. 13(1), 11–24 (1996)

    Article  MATH  Google Scholar 

  31. Rognant, M., Courteille, E., Maurine, P.: A systematic procedure for the elastodynamic modeling and identification of robot manipulators. IEEE Trans. Robot. 26(6), 1085–1093 (2010)

    Article  Google Scholar 

  32. Bakhti, M., Idrissi, B.B.: Active vibration control of a flexible manipulator using model predictive control and kalman optimal filtering. Int. J. Eng. Sci. Technol. (IJEST) 5(1), 165–177 (2013)

    Google Scholar 

  33. Ahmad, M.A., Nasir, A.N.K., Hambali, N., Ishak, H.: Vibration and input tracking control of flexible manipulator using hybrid fuzzy logic controller. Mechatronics and Automation, ICMA 2008. IEEE International Conference, pp. 593-598 (2008)

  34. Khaled, A., Hamza, D., Abdulmalik, A.: Residual vibration of a rotating flexible beam subject to prescribed motion. JKAU: Eng. Sci. 20(2), 97–107 (2009). (2009 A.D. / 1430 A.H.)

    Google Scholar 

  35. Abedi, E., Ahmadi Nadooshan, A., Salehi, S.: Dynamic modeling of tow flexible link manipulators. world academy of science, engineering and technology (2008)

  36. Zhang, L., Liu, J.: Adaptive boundary control for flexible two-link manipulator based on partial differential equation dynamic model. Control Theory Appl., IET 7(1), 43–51 (2013)

    Article  MATH  Google Scholar 

  37. Ashayeri, A., Eghtead, M., Farid, M.: Trajectory tracking for two-link flexible arm via two-time scale and boundary control methods. ASME Int. Mechanical Engineering Congress and Exposition, Boston, pp. 189–197 (2008)

  38. Moheimani, S.O.R., Clark, R.L.: Minimizing the truncation error in assumed modes models of structures. In: Proceedings of the 2000 American Control Conference, vol. 4 pp. 2398–2402 (2000)

  39. Tso, S.K., Yang, T.W., Xu, W.L., Sun, Z.Q.: Vibration control for a flexible-link robot arm with deflection feedback. Int. J. Non-Linear Mech. 38(1), 51–62 (2003)

    Article  MATH  Google Scholar 

  40. Theodore, R.J., Ghosal, A.: Comparison of the assumed modes and finite element models for flexible multi-link manipulators. Robot. Res. 14(2), 91–111 (1995)

    Article  Google Scholar 

  41. Wei, X., Liu, S.: Computational effective predictive end-point trajectory control of flexible manipulators with measurable feedback lag. Research Journal of Applied Sciences. Eng. Technol. 4(20), 3875–3884 (2012)

    Google Scholar 

  42. Dalong, W., Youfang, L., Yan, L., Li, X. IEEE Int. Conf. Syst., Man, Cybern. 2, 1020–1024 (1996)

    Article  Google Scholar 

  43. Wilson, D.G., Starr, G.P., Parker, G.G., Robinett, R.D.: Robust control design for flexible-link/flexible-joint robots. In: Proceedings of the 2000 IEEE International Conference on Robotics and Automation, San Francisco, pp. 1496–1501 (2000)

  44. Ma, K., Ghasemi-Nejhad, M.N.: Adaptive control of flexible active composite manipulators driven by piezoelectric patches and active struts with dead zones. IEEE Trans. Control Syst. Technol. 16(5), 897–907 (2008)

    Article  Google Scholar 

  45. Feliu, V., Muñoz, I., Roncero, P. L., López, J. J.: Repetitive control for single link flexible manipulators. In: Proceedings of the 2005 IEEE, International Conference on Robotics and Automation (2005)

  46. Bascetta, L., Rocco, P.: End-point vibration sensing of planar flexible manipulators through visual servoing. Mechatronics 16(3–4), 221–232 (2006)

    Article  Google Scholar 

  47. Dubus, G.: On-line estimation of time varying capture delay for vision-based vibration control of flexible manipulators deployed in hostile environments. Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference, pp. 3765–3770 (2010)

  48. Dubus, G., David, O., Measson, Y.: A vision-based method for estimating vibrations of a flexible arm using on-line sinusoidal regression. Robotics and Automation (ICRA), 2010 IEEE International Conference, pp. 4068–4075 (2010)

  49. De Almeida Neto, A., Góes, L.C.S., Nascimento Jr., C.L.: Accumulative learning using multiple ANN for flexible link. IEEE Trans. Aerosp. Electron. Syst. 46(2), 508–524 (2010)

    Article  Google Scholar 

  50. Tumari, M.Z.M., Ahmad, M.A., Saealal, M.S., Zawawi, M.A., Mohamed, Z., Yusop, N.M.: The direct strain feedback with PID control approach for a flexible manipulator: Experimental results. Int. Conf. Control, Autom. Syst., 7–12 (2011)

  51. Bascetta, L., Rocco, P.: Two-time scale visual servoing of eye-in-hand flexible manipulators. Robot., IEEE Trans. 22(4), 818–830 (2006)

    Article  Google Scholar 

  52. Qiu, Z.: Acceleration sensor based vibration control for flexible robot by using PPF algorithm. 2007 IEEE International Conference on Control and Automation, ICCA , pp. 1335–1339 (2007)

  53. Qiu, Z.-C., Han, J.-D., Zhang, X.-M., Wang, Y.-C., Wu, Z.-W.: Active vibration control of a flexible beam using a non-collocated acceleration sensor and piezoelectric patch actuator. J. Sound Vib. 326(3–5), 438–455 (2009)

    Article  Google Scholar 

  54. Li, Y., Tong, S., Li, T.: Adaptive fuzzy output feedback control for a single-link flexible robot manipulator driven DC motor via backstepping. Nonlinear Anal.: Real World Appl. 14(1), 483–494 (2013)

    Article  MATH  MathSciNet  Google Scholar 

  55. Jiang, X., Konno, A., Uchiyama, M.: Wrist camera-based vibration suppression control for a flexible manipulator. Adv. Robot. 25(6–7) (2011)

  56. Jiang, X., Yabe, Y., Konno, A., Uchiyama, M.: Vibration suppression control of a flexible arm using image features of unknown objects. International Conference on Intelligent Robots and Systems, IROS 2008. IEEE/RSJ, pp. 3783–3788 (2008)

  57. Liu, H., Huang, Y., Shi, W., Xu, H.: Design of adaptive fuzzy controller for flexible link manipulator. IEEE International Conference on Industrial Technology, ICIT 2008, pp 1–4 (2008)

  58. Poplawski, J., Sultan, I.: Position sensing of industrial robots – A survey. Inf. Technol. J. 6(1), 14–25 (2007)

    Article  Google Scholar 

  59. Dubus, G., David, O., Measson, Y.: Vibration control of a flexible arm for the ITER maintenance using unknown visual features from inside the vessel. IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS, 5697–5704 (2009)

  60. Mahmood, I.A., Moheimani, S.O.R., Bhikkaji, B.: Precise tip positioning of a flexible manipulator using resonant control. IEEE/ASME Trans. Mechatron. 13(2), 180–186 (2008)

    Article  Google Scholar 

  61. Mahmood, I.A, Bhikkaji, B., Moheimani, S.O.R.: Vibration and position control of a flexible manipulator. Information, Decision and Control, IDC ’07 pp. 260–265 (2007)

  62. Yang, T.W., Wei Liang, X., Han, J.D.: Dynamic compensation control of flexible macro–micro manipulator systems. IEEE Trans. Control Syst. Technol. 18(1), 143–151 (2010)

    Article  Google Scholar 

  63. Katsura, S., Ohnishi, K.: Force servoing by flexible manipulator based on resonance ratio control. IEEE Trans. Ind. Electron. 54(1), 539–547 (2007)

    Article  Google Scholar 

  64. Wang, G.L., Li, Y.F.: Integrated sensing and filter design for a single-link flexible manipulator. IEEE Trans. Robot. Autom. 20(3), 559–564 (2004)

    Article  Google Scholar 

  65. Dong, X.-J., Meng, G., Peng, J.-C.: Vibration control of piezoelectric smart structures based on system identification technique: Numerical simulation and experimental study. J. Sound Vib. 297(3-5), 680–693 (2006)

    Article  MATH  MathSciNet  Google Scholar 

  66. Sun, D., Mills, J.K., Shan, J., Tso, S.K.: A PZT actuator control of a single-link flexible manipulator based on linear velocity feedback and actuator placement. Mechatronics 14(4), 381–401 (2004)

    Article  Google Scholar 

  67. Ho, M.-T., Tu, Y.-W.: Position control of a single-link flexible manipulator using H∞-based PID control. IEE Proc. - Control Theory Appl. 153(5), 615–622 (2006)

    Article  MathSciNet  Google Scholar 

  68. Pradhan, S.K., Subudhi, B.: Real-Time Adaptive Control of a Flexible Manipulator Using Reinforcement Learning. IEEE Trans. Autom. Sci. Eng. 9(2), 237–249 (2012). Publication Year: 2012

    Article  Google Scholar 

  69. Rokui, M.R., Khorasani, K.: Experimental results on discrete-time nonlinear adaptive tracking control of a flexible-link manipulator. Systems, Man, and Cybernetics, Part B: Cybernetics. IEEE Trans. 30(1), 151–164 (2000)

    Google Scholar 

  70. Macnab, C.J.B.: Stable neural control of a flexible-joint manipulator subjected to sinusoidal disturbance. In: Proceedings of the Fourth International Conference on Autonomous Robots and Agents, pp. 698–703 (2009)

  71. Yurkevich, V. D.: Advances in PID Control. InTech, vol. 6 (2011)

  72. Botsali, F.M., Kalyoncu, M., Tinkir, M., Önen, Ü.: Fuzzy logic trajectory control of flexible robot manipulator with rotating prismatic Joint. 2nd Int. Conf. Comput. Autom. Eng. (ICCAE) 3, 35–39 (2010)

    Article  Google Scholar 

  73. Pratiher, B., Dwivedy, S.K.: Non-linear dynamics of a flexible single link Cartesian manipulator. Int. J. Non-Linear Mech. 42(9), 1062–1073 (2007)

    Article  Google Scholar 

  74. Ankarali, A., Kalyoncu, M., Botsali, F.M., Sisman, T.: Mathematical modelling and simulation of a flexible shaft-flexible link system with end mass. Math. Comput. Model. Dyn. Syst. 10(3-4), 187–200 (2004)

    Article  MATH  Google Scholar 

  75. Ata, A.A., Myo, T.R.: Optimal point-to-point trajectory tracking of redundant manipulators using Generalized Pattern Search. Int. J. Adv. Robot. Syst. 2(3), 239–244 (2005)

    Google Scholar 

  76. Burkan, Recep, Uzmay, İbrahim.: A model of parameter adaptive law with time varying function for robot control. Appl. Math. Model. 29(4), 361–371 (2005)

    Article  MATH  Google Scholar 

  77. Huang, P., Xu, Y., Liang, B.: Tracking trajectory planning of space manipulator for capturing operation. Int. J. Adv. Robot. Syst. 3(3), 211–218 (2006)

    Google Scholar 

  78. Owen, W.S., Croft, E.A., Benhabib, B.: Real-time trajectory resolution for a two-manipulator machining system. J. Robot. Syst. 22, S51—S63 (2006). Supplement

    Article  Google Scholar 

  79. Becedas, J., Feliu, V., Sira-Ramírez, H.: Control of Flexible Manipulators affected by Non-Linear Friction Torque based on the Generalized Proportional Integral Concept. IEEE International Symposium on Industrial Electronics, ISIE 2007, pp. 12–17 (2007)

  80. De Luca, A., Schröder, D., Thümmel, M.: An acceleration-based state observer for robot manipulators with elastic joints. IEEE International Conference on Robotics and Automation Roma (2007)

  81. Xie, B., Yao, B.: Multi-objective optimization of tip tracking control using LMI. Congr. Expo in Proc. ASME Int. Mech. Eng., 1533–1542 (2005)

  82. Talole, S.E., Kolhe, J.P., Phadke, S.B.: Extended-state-observer based control of flexible-joint system with experimental validation. IEEE Trans. Ind. Electron. 57(4), 1411–1419 (2010)

    Article  Google Scholar 

  83. Ge, S.S., He, W., Voon Ee How, B., Choo, Y.S.: Boundary control of a coupled nonlinear flexible marine riser. IEEE Trans. Control Syst. Technol. 18(5), 1080–1091 (2010)

    Article  Google Scholar 

  84. Kim, S.-M., Wang, S., Brennan, M.J.: Comparison of negative and positive position feedback control of a flexible structure. Smart Mater. Struct. 20(1) (2011)

  85. Song, G., Schmidt, S.P., Agrawal, B.N.: Experimental robustness study of positive position feedback control for active vibration suppression. J. Guid. 25(1), 179–182 (2002)

    Article  Google Scholar 

  86. Shan, J., Liu, H., Sun, D.: Slewing and vibration control of a single-link flexible manipulator by positive position feedback (PPF). Mechatronics 15, 487–503 (2005)

    Article  Google Scholar 

  87. Orszulik, R., Shan, Jinjun: Multi-mode adaptive positive position feedback: An experimental study. Am. Control Conf. (ACC), 3315–3319 (2011)

  88. An, F., Chen, W.-D., Zhang, W.-L.: Acceleration feedback for active control on forced vibration of an intelligent cantilever beam. Chuan Bo Li Xue/J. Ship Mech. 17(6), 702–713 (2013)

    Google Scholar 

  89. Gurses, K., Buckham, B.J., Park, E.J.: Vibration control of a flexible link manipulator using an array of fiber-optic curvature sensors and piezoelectric actuators. Mechatronics 19(2), 167–177 (2009)

    Article  Google Scholar 

  90. Gurses, K., Buckham, B.J., Park, E.J.: Vibration control of a single-link flexible manipulator using an array of fiber optic curvature sensors and PZT actuators. Mechatronics 19(2), 167–177 (2009)

    Article  Google Scholar 

  91. Green, A., Sasiadek, J.Z.: Inverse dynamics and fuzzy repetitive learning flexible robot control. 15th Triennial World Congress IFAC, Barcelona (2002)

  92. Lu, L., Chen, Z., Yao, B., Wang, Q.: A two-loop performance-oriented tip-tracking control of a linear-motor-driven flexible beam system with experiments. IEEE Trans. Ind. Electron. 60(3), 1011–1022 (2013)

    Article  Google Scholar 

  93. Xu, Y., Ritz, E.: Vision based flexible beam tip point control. American Control Conference, ACC ’09., pp. 5277–5282 (2009)

  94. Cole, M.O.T., Wongratanaphisan, T.: A Direct Method of Adaptive FIR Input Shaping for Motion Control with Zero Residual Vibration. IEEE/ASME Trans. Mechatron. 18(1), 316–327 (2013)

    Article  Google Scholar 

  95. Khalid, A., Singhose, W., Huey, J., Lawrence, J., Frakes, D.: Study of operator behavior and performance using an input-shaped bridge crane. In: Proceedings of the 2004 IEEE International Conference on Control Applications, vol. 1 pp. 759–764 (2004)

  96. Dídaz, I.M., Pereira, E., Feliu, V., Cela, J.J.L.: Concurrent design of multimode input shapers and link dynamics for flexible manipulators. IEEE/ASME Trans. Mechatron. 15(4), 646–651 (2010)

    Article  Google Scholar 

  97. Cole, M.O.T., Wongratanaphisan, T.: Optimal FIR input shaper designs for motion control with zero residual vibration, Vol. 133, p 021008 (2011)

  98. Pereira, E., Trapero, J.R., Díaz, I.M., Feliu, V.: Adaptive input shaping for manoeuvring flexible structures using an algebraic identification technique. Automatica 45, 1046–1051 (2009)

    Article  MATH  Google Scholar 

  99. Rhim, S., Book, W.J.: Adaptive time-delay command shaping filter for flexible manipulator control. IEEE/ASME Trans. Mechatron. 9(4), 619–626 (2004)

    Article  Google Scholar 

  100. Ahmad, M.A., Ismail, R., Ramli, M.S., Zawawi, M.A., Hambali, N., Abd Ghani, N.M.: Vibration control of flexible joint manipulator using input shaping with PD-type Fuzzy Logic Control. Industrial Electronics, 2009. ISIE 2009. IEEE International Symposium, pp. 1184–1189 (2009)

  101. Ahmad, M.A., Ramli, M.S., Raja Ismail, R.M.T., Hambali, N., Zawawi, M.A.: The investigations of input shaping with optimal state feedback for vibration control of a flexible joint manipulator. In: Proceedings of the International Conference on Innovative Technologies in Intelligent Systems and Industrial Applications, CITISIA 2009, pp. 446–451 (2009)

  102. Sorensen, K.L., Singhose, W.E.: Command induced vibration analysis using input shaping principles. Automatica 44(9), 2392–2397 (2008)

    Article  MATH  MathSciNet  Google Scholar 

  103. Mohamed, Z., Chee, A.K., Mohd Hashim, A.W.I., Tokhi, M.O., Amin, S.H.M., Mamat, R.: Techniques for vibration control of a flexible robot manipulator. Robotica 24(04), 499–511 (2006)

    Article  Google Scholar 

  104. Vaughan, J., Yano, A., Singhose, W.: Comparison of robust input shapers. J. Sound Vib. 315(4–5), 797–815 (2008)

    Article  Google Scholar 

  105. Cutforth, C.F., Pao, L.Y.: Adaptive input shaping for maneuvering flexible structures. Automatica 40(4), 685–693 (2004)

    Article  MATH  MathSciNet  Google Scholar 

  106. Park, J., Chang, P.-H., Park, H.-S., Lee, S.S.: Design of learning input shaping technique for residual vibration suppression in an industrial robot. IEEE/ASME Trans. Mechatron. 11(1), 55–65 (2006)

    Article  Google Scholar 

  107. Park, K.J.: Flexible robot manipulator path design to reduce the endpoint residual vibration under torque constraints. J. Sound Vib. 275(3–5), 1051–1068 (2004)

    Article  Google Scholar 

  108. Aphale, S.S., Fleming, A.J., Moheimani, S.O.R.: Integral resonant control of collocated smart structures. Smart Mater. Struct. 16, 439–446 (2007)

    Article  Google Scholar 

  109. Pereira, E., Diaz, I.M., Cela, J.J.L., Feliu, V.: A new methodology for passivity based control of single-link flexible manipulator. 2007 IEEE/ASME international conference on Advanced intelligent mechatronics, pp. 1–6 (2007)

  110. Pereira, E., Aphale, S.S., Feliu, V., Moheimani, S.O.R.: Integral resonant control for vibration damping and precise tip-positioning of a single-link flexible manipulator. IEEE/ASME Trans. Mechatron. 16(2), 232–240 (2010)

    Article  Google Scholar 

  111. Liu, L., Yuan, K.: Noncollocated passivity-based PD control of a single-link flexible manipulator. Robotica 21(02), 117–135 (2003)

    Article  MathSciNet  Google Scholar 

  112. Ryu, J.H., Kwon, D.S., Hannaford, B.: Control of a flexible manipulator with noncollocated feedback: Time domain passivity approach. IEEE Trans. Robot. 20(4), 776–780 (2004)

    Article  Google Scholar 

  113. Forbes, J.R., Damaren, C.J.: Single-link flexible manipulator control accommodating passivity violations: theory and experiments. IEEE Trans. Control Syst. Technol. 20(3), 652–662 (2012)

    Article  Google Scholar 

  114. Choi, Y., Cheong, J., Moon, H.: A trajectory planning method for output tracking of linear flexible systems using exact equilibrium manifolds. IEEE/ASME Trans. Mechatron. 15(5), 819–826 (2010)

    Article  Google Scholar 

  115. Heidari, H.R., Korayem, M.H., Haghpanahi, M., Batlle, V.F.: Optimal trajectory planning for flexible link manipulators with large deflection using a new displacements approach. J. Int. Robot. Syst.: Theory Appl., 1–14 (2013)

  116. Endo, T., Matsuno, F., Kawasaki, H.: Simple boundary cooperative control of two one-link flexible arms for grasping. IEEE Trans. Autom. Control 54(10), 2470–2476 (2009)

    Article  MathSciNet  Google Scholar 

  117. Feliu, V., Ramos, F.: Strain gauge based control of single-link flexible very lightweight robots robust to payload changes. Mechatronics 15(5), 547–571 (2005)

    Article  Google Scholar 

  118. Monje, C.A., Ramos, F., Feliu, V., Vinagre, B.M.: Tip position control of a lightweight flexible manipulator using a fractional order controller. Control Theory Appl., IET 1(5), 1451–1460 (2007)

    Article  Google Scholar 

  119. Etxebarria, V., Sanz, A., Lizarraga, I.: Real-time experimental control of a flexible robotic manipulator using a composite approach. In: Proceedings of the 2004 IEEE International Conference on Control Applications, vol. 2 pp. 955–960 (2004)

  120. Ahmad, M.A.: Vibration and input tracking control of flexible manipulator using LQR with non-collocated PID controller. In: Proceedings of 2nd UKSIM European Symposium on Computer Modelling and Simulation, UK, pp. 40–45 (2008)

  121. Ahmad, M.A., Mohamed, Z.: Techniques of vibration and end-point trajectory control of flexible manipulator. International Symposium on Mechatronics and its Applications, ISMA ’09. 6th, pp. 1–6 (2009)

  122. Ahmad, M.A.: Modelling and simulation of vibration and input tracking control of a single-link flexible manipulator. Pertanika J. Sci. Technol. 18(1), 61–76 (2010)

    Google Scholar 

  123. Kuo, K.Y., Lin, J.: Fuzzy logic control for flexible link robot arm by singular perturbation approach. Appl. Soft Comput. 2(1), 24–38 (2002)

    Article  Google Scholar 

  124. Karimi, H.R., Yazdanpanah, M.J.: A new modelling approach to single-link flexible manipulator using singular perturbation method. Electr. Eng. 88(5), 375–382 (2006)

    Article  Google Scholar 

  125. Lin, J., Huang, Z.Z., Huang, P.H.: An active damping control of robot manipulators with oscillatory bases by singular perturbation approach, Vol. 304, pp 345–360 (2007)

  126. Dogan, M., Istefanopulos, Y.: Optimal nonlinear controller design for flexible robot manipulators with adaptive internal model. IET Control Theory Appl. 1(3), 770–778 (2007)

    Article  Google Scholar 

  127. Chien, M.-C., Huang, A.-C.: Adaptive control for flexible-joint electrically driven robot with time-varying uncertainties. IEEE Trans. Ind. Electron. 54(2), 1032–1038 (2007)

    Article  Google Scholar 

  128. Subudhi, B., Morris, A.S.: Soft computing methods applied to the control of a flexible robot manipulator. Appl. Soft Comput. 9(1), 149–158 (2009)

    Article  Google Scholar 

  129. Light cap, C.A., Banks, S.A.: An extended Kalman filter for real-time estimation and control of a rigid-link flexible-joint manipulator. IEEE Trans. Control Syst. Technol. 18, 91–103 (2010)

    Article  Google Scholar 

  130. Cui, L., Zhang, J., Gao, L., Wang, F.: A robust controller of a flexible manipulator using genetic algorithm 9th International Conference on Control, Automation, Robotics and Vision. ICARCV ’06, pp. 1–4 (2006)

  131. Yeon, J.S., Park, J.H.: Practical robust control for flexible joint robot manipulators. In: Proceedings of the 2008 IEEE International Conference on Robotic and Automation, Pasadena, pp. 3377–3382 (2008)

  132. Park, C.-W.: Robust stable fuzzy control via fuzzy modeling and feedback linearization with its applications to controlling uncertain single-link flexible joint manipulators. J. Intell. Robot. Syst. 39(2), 131–147 (2004)

    Article  Google Scholar 

  133. Chaoui, H., Sicard, P., Lakhsasi, A.: Reference model supervisory loop for neural network based adaptive control of a flexible joint with hard nonlinearities. Can. Conf. Electr. Comput. Eng. 4, 2029–2034 (2004)

    Google Scholar 

  134. Chaoui, H., Gueaieb, W., Yagoub, M., Sicard, P.: Hybrid neural fuzzy sliding mode control of flexible-joint manipulators with unknown dynamics. 32nd Annual Conference on IEEE Industrial Electronics. IECON, pp. 4082-4087 (2006)

  135. Zhihong, S., Khorasani, K.: Neural-network-based controller for a single-link flexible manipulator using the inverse dynamics approach. IEEE Trans. Ind. Electron. 48(6), 1074–1086 (2001)

    Article  Google Scholar 

  136. Cicero Pinheiro Gomes, S., da Rosa, V.S., Albertini, Bd. C.: Active Control to flexible manipulators. IEEE/ASME Trans. Mechatron. 11(1), 75–83 (2006)

    Article  Google Scholar 

  137. Subudhi, B., Morris, A.S.: Singular perturbation based neuro-h infinity control scheme for a manipulator with flexible links and joints. Robotica 24(02), 151–161 (006)

    Article  Google Scholar 

  138. Li, Pingkang, Xiuxia, Du: A Fuzzy Logic Learning Control for vibration suppression of manipulator robot systems. In: Proceedings of the 2004 International Conference on Intelligent Mechatronics and Automation, Chengdu (2004)

  139. Ahmad, M.A., Raja Ismail, R.M.T., Ramli, M.S., Zawawi, M.A., Suid, M.H.: Vibration control strategy for flexible joint manipulator: A Fuzzy Logic Control approach. (ISIEA), 2010 IEEE Symp. Ind. Electron. Appl., 469–474 (2010)

  140. Hui, D., Fuchun, S., Zengqi, S., Tangwen, Y.: Observer-based adaptive controller design of flexible manipulators using time-delay neuro-fuzzy networks. In: Proceedings of the 4th World Congress on Intelligent Control and Automation, vol. 2 pp. 1241–1245 (2002)

  141. Tian, L.F, Collins, C.: Adaptive neuro-fuzzy control of a flexible manipulator. Mechatronics 15(10), 1305–1320 (2005)

    Article  Google Scholar 

  142. Mita, T., Yoshida, H.: Undershooting phenomenon and its control in linear multivariable servomechanisms. IEEE Trans. Autom. Control 26(2), 402–407 (1981)

    Article  MATH  MathSciNet  Google Scholar 

  143. Vidyasagar, M.: On undershoot and nonminimum phase zeros. IEEE Trans. Autom. Control 31(5), 440 (1986)

    Article  MATH  MathSciNet  Google Scholar 

  144. Johnson, M.A., Moradi, M.H.: PID Control: New Identification and Design Methods. Springer, Berlin (2005)

    Book  Google Scholar 

  145. Katebi, M.R., Moradi, M.H.: Predictive PID controllers. IEE Proc. - Control Theory and Appl. 148(6), 478–487 (2001)

    Article  Google Scholar 

  146. Tan, K.K., Lee, T.H., Leu, F.M.: Predictive PI versus smith control for dead-time compensation. ISA Trans. 40(1), 17–29 (2001)

    Article  Google Scholar 

  147. Moradi, M.H., Katebi, MR, Johnson, M.A.: In: The 27th Annual Conference of the IEEE on Industrial Electronics Society. IECON ’01. vol 1, pp. 764–769 (2001)

  148. Sato, T.: Design of a GPC-based PID controller for controlling a weigh feeder. Control. Eng. Pract. 18(2), 105–113 (2010)

    Article  Google Scholar 

  149. Maciejowski, J.M.: Predictive control with constraints. Prentice Hall (2002)

  150. Sunan, H., Kiong, T.K., Heng, L.T.: Applied predictive control. Springer-Verlag (2002)

  151. Chen, W.H., Balance, D.J., Peter, J.G.: Optimal Control of nonlinear systems: A predictive control approach. Automatica 39(4), 633–641 (2003)

    Article  MATH  MathSciNet  Google Scholar 

  152. Ozgoli, S., Taghirad, H.D.: A survey on the control of flexible joint robots. Asian J. Control 8(4), 1–15 (2006)

    MathSciNet  Google Scholar 

  153. Abdolvand, M., Fatehi, M.H.: Model-base predictive control for vibration suppression of a flexible manipulator. UKACC International Conference on Control, Cardiff, UK, pp. 562–567 (2012)

  154. Mayne, D.Q., Rawlings, J.B., Rao, C.V., Scokaert, P.O.M.: Constrained model predictive control: Stability and optimality. Automatica 36(6), 789–814 (2000)

    Article  MATH  MathSciNet  Google Scholar 

  155. Maeder, U., Borrelli, F., Morari, M.: Linear offset free model predictive control. Automatica 45(10), 2214–2222 (2009)

    Article  MATH  MathSciNet  Google Scholar 

  156. Shuai, X., Li, Y., Wu, T.: Real time predictive control algorithm for endpoint trajectory tracking of flexible manipulator. J. Zhejiang Univ. (Eng. Sci.) 44, 2590–264 (2010)

    Google Scholar 

  157. Ghahramani, N.O., Towhidkhah, F.: Constrained incremental predictive controller design for a flexible joint robot. ISA Trans. 48(3), 321–326 (2009)

    Article  Google Scholar 

  158. Korayem, M.H., Irani, M., Rafee Nekoo, S. : Load maximization of flexible joint mechanical manipulator using nonlinear optimal controller, Vol. 69, pp 458–469 (2011)

  159. Liu, Y.-C., Chopra, N.: Control of robotic manipulators under Input/Output communication delays: theory and experiments. IEEE Trans. Robot. 28(3) (2012)

  160. Koo, T. J., Hoffmann, F., Shim, H., Sinopoli, B., Sastry, S.: Hybrid control of an autonomous helicopter. IN IFAC workshop on motion control, pp. 258–290 (1998)

  161. Wongratanaphisan, T., Cole, M.: Robust impedance control of a flexible structure mounted manipulator performing contact tasks. IEEE Trans. Robot. 25(2), 445–451 (2009)

    Article  Google Scholar 

  162. Vossoughi, G.R., Karimzadeh, A.: Impedance control of a two degree-of-freedom planar flexible link manipulator using singular perturbation theory. Robotica 24(02), 221–228 (2006)

    Article  Google Scholar 

  163. Becedas, J., Trapero, J.R., Feliu, V., Sira-Ramirez, H.: Adaptive controller for single-link flexible manipulators based on algebraic identification and generalized proportional integral control. IEEE Trans. Syst., Man, Cybern., Part B: Cybern. 39(3), 735–751 (2009)

    Article  Google Scholar 

  164. Becedas, J., Payo, I., Feliu, V.: Generalised proportional integral torque control for single-link flexible manipulators. IET Control Theory Appl. 4(5), 773–783 (2010)

    Article  MathSciNet  Google Scholar 

  165. Farruggio, D., Menini, L.: Two degrees of freedom H∞ control of a flexible link. In: Proceedings of the 2000 American Control Conference, vol. 4 pp. 2280–2284 (2000)

  166. Karkoub, M., Tamma, K.: Modelling and μ-synthesis control of flexible manipulators. Comput. Struct. 79(5), 543–551 (2001)

    Article  Google Scholar 

  167. Becker, J., Meurer, T.: Feedforward tracking control for non-uniform timoshenko beam models: combining differential flatness, modal analysis, and FEM. ZAMM – J. Appl. Math. Mech. 87(1), 37–58 (2005)

    Article  MathSciNet  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Faculty of Mechanical and Manufacturing Engineering, The University of Nottingham, Malaysia Campus, Jalan Broga, 43500, Semenyih, Selangor Darul Ehsan, Malaysia

    Chang Tai Kiang, Andrew Spowage & Chan Kuan Yoong

Authors
  1. Chang Tai Kiang
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Andrew Spowage
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Chan Kuan Yoong
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Chang Tai Kiang.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Kiang, C.T., Spowage, A. & Yoong, C.K. Review of Control and Sensor System of Flexible Manipulator. J Intell Robot Syst 77, 187–213 (2015). https://doi.org/10.1007/s10846-014-0071-4

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s10846-014-0071-4

Keywords

Mathematics Subject Classification (2010)

Search

Navigation