Control of Flexible Joint Robotic Manipulator: Design and Prototyping

摘要

Robots are now an integral part of automation sector, thus indicating the importance of the associated control strategies. In contrast with conventional rigid manipulators, flexible arms offer several benefits in terms of light weight and power efficient structure, safe operation due to reduced inertia, low manufacturing cost and faster movements. The present paper proposes a linear control law based on Proportional Integral Derivative (PID) technique to control flexible manipulators. In particular, flexibility in joint is discussed highlighting the control challenges. Tuning of the controller is based on the derived dynamic model using Lagrange approach. The proposed control law is then implemented on a custom-developed platform. Trajectory tracking results witnessed effectiveness of the developed control strategy in terms of reducing undesirable vibrations thereby increasing precision in the flexible manipulator. It is anticipated that the results obtained have enormous potential in applications involving flexible manipulator.