Abstract
Mechanical flexibility in robot manipulators is due to compliance at the joints and/or distributed deflection of the links. Dynamic models of the two classes of robots with flexible joints or flexible links are presented, together with control laws addressing the motion tasks of regulation to constant equilibrium states and of asymptotic tracking of output trajectories. Control design for robots with flexible joints takes advantage of the passivity and feedback linearization properties. In robots with flexible links, basic differences arise when controlling the motion at the joint level or at the tip level.
Similar content being viewed by others
Bibliography
Albu-Schäffer A, Hirzinger G (2001) A globally stable state feedback controller for flexible joint robots. Adv Robot 15(8):799–814
Balas MJ (1978) Feedback control of flexible systems. IEEE Trans Autom Control 23(4):673–679
Barbieri E, Özgüner Ü (1988) Unconstrained and constrained mode expansions for a flexible slewing link. ASME J Dyn Syst Meas Control 110(4):416–421
Bayo E (1987) A finite-element approach to control the end-point motion of a single-link flexible robot. J Robot Syst 4(1):63–75
Bayo E, Papadopoulos P, Stubbe J, Serna MA (1989) Inverse dynamics and kinematics of multi-link elastic robots: an iterative frequency domain approach. Int J Robot Res 8(6):49–62
Book WJ (1984) Recursive Lagrangian dynamics of flexible manipulators. Int J Robot Res 3(3):87–106
Brogliato B, Ortega R, Lozano R (1995) Global tracking controllers for flexible-joint manipulators: a comparative study. Automatica 31(7):941–956
Cannon RH, Schmitz E (1984) Initial experiments on the end-point control of a flexible one-link robot. Int J Robot Res 3(3):62–75
De Luca A, Book W (2016) Robots with flexible elements. In: Siciliano B, Khatib O (eds) Springer handbook of robotics, 2nd edn. Springer, Berlin, pp 243-282
De Luca A, Flacco F (2010) Dynamic gravity cancellation in robots with flexible transmissions. In: Proceedings of 49th IEEE Conference on Decision and Control, pp 288–295
De Luca A, Flacco F (2011) A PD-type regulator with exact gravity cancellation for robots with flexible joints. In: Proceedings of IEEE International Conference on Robotics and Automation, pp 317–323
De Luca A, Siciliano B (1993a) Regulation of flexible arms under gravity. IEEE Trans Robot Autom 9(4):463–467
De Luca A, Siciliano B (1993b) Inversion-based nonlinear control of robot arms with flexible links. AIAA J Guid Control Dyn 16(6):1169–1176
De Luca A, Siciliano B, Zollo L (2005) PD control with on-line gravity compensation for robots with elastic joints: theory and experiments. Automatica 41(10):1809–1819
Della Santina C, Katzschmann R, Bicchi A, Rus D (2018) Dynamic control of a soft robots interacting with the environment. In: Proceedings of IEEE International Conference on Soft Robotics, pp 46–53
Kanoh H (1990) Distributed parameter models of flexible robot arms. Adv Robot 5(1):87–99
Keppler M, Lakatos D, Ott C, Albu-Schäffer A (2018) Elastic structure preserving (ESP) control for compliantly actuated robots. IEEE Trans Robot 34(2):317–335
Kugi A, Ott C, Albu-Schäffer A, Hirzinger G (2008) On the passivity-based impedance control of flexible joint robots. IEEE Trans Robot 24(2):416–429
Kwon D-S, Book WJ (1994) A time-domain inverse dynamic tracking control of a single-link flexible manipulator. ASME J Dyn Syst Meas Control 116(2):193–200
Luo ZH (1993) Direct strain feedback control of flexible robot arms: new theoretical and experimental results. IEEE Trans Autom Control 38(11):1610–1622
Siciliano B, Book WJ (1988) A singular perturbation approach to control of lightweight flexible manipulators. Int J Robot Res 7(4):79–90
Singer N, Seering WP (1990) Preshaping command inputs to reduce system vibration. ASME J Dyn Syst Meas Control 112(1):76–82
Spong MW (1987) Modeling and control of elastic joint robots. ASME J Dyn Syst Meas Control 109(4): 310–319
Spong MW, Khorasani K, Kokotovic PV (1987) An integral manifold approach to the feedback control of flexible joint robots. IEEE J Robot Autom 3(4):291–300
Sweet LM, Good MC (1985) Redefinition of the robot motion control problem. IEEE Control Syst Mag 5(3):18–24
Tomei P (1991) A simple PD controller for robots with elastic joints. IEEE Trans Autom Control 36(10):1208–1213
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Section Editor information
Rights and permissions
Copyright information
© 2020 Springer-Verlag London Ltd., part of Springer Nature
About this entry
Cite this entry
Luca, A.D. (2020). Flexible Robots. In: Baillieul, J., Samad, T. (eds) Encyclopedia of Systems and Control. Springer, London. https://doi.org/10.1007/978-1-4471-5102-9_176-2
Download citation
DOI: https://doi.org/10.1007/978-1-4471-5102-9_176-2
Published:
Publisher Name: Springer, London
Print ISBN: 978-1-4471-5102-9
Online ISBN: 978-1-4471-5102-9
eBook Packages: Springer Reference EngineeringReference Module Computer Science and Engineering
Publish with us
Chapter history
-
Latest
Flexible Robots- Published:
- 31 January 2020
DOI: https://doi.org/10.1007/978-1-4471-5102-9_176-3
-
Flexible Robots
- Published:
- 29 November 2019
DOI: https://doi.org/10.1007/978-1-4471-5102-9_176-2
-
Original
Flexible Robots- Published:
- 02 April 2014
DOI: https://doi.org/10.1007/978-1-4471-5102-9_176-1