Control of n link flexible robotic manipulators in 3D Euclidean space

Abstract

Control of flexible manipulators finds a lot of applications in the modern day world, newlineespecially in the field of avionics, robotics and the smart intelligent systems in the nano newlinemedical fields. Robot manipulators finds importance in this digital industrialized newlinemechatronics age and are used in almost all the fields of applications ranging from product newlinedevelopment to the medical field. Models of robot manipulators are important components newlineof a robot motion control system. Advancement in the research of the robotic manipulators newlinecould be divided into 2 parts, viz., Rigid Manipulator (RM) and Flexible Manipulator (FM).Most of Robotic Manipulators (RM) are designed with steel or aluminium frames for newlineincreased tensile strength. The result - rigid robotic arms, which are heavy and immobile. With advances in material technology, robotics and the increasing demand of light-weight and portable robotic arms, have been the catalyst for research in the design and control of flexible robotic manipulators, which are used nowadays for a large number of applications. Flexibility comes from the use of plastic, light weight (Al) or carbon-fiber frames, which newlinesignificantly reduces the cost of manufacturing and the power consumption of the system.The control algorithms of rigid manipulators is very easy, but when it comes to flexible manipulators it is very difficult because of the flexible nature of the plant. Thus, special algorithms must be developed to cater for flexibility in the robotic arms and these algorithms can be complex, considering that the system is non-linear and the control newlinescheme employed to govern the plant to a pre-set location is needed. There are several newlinecontrol schemes to control the tip and the motors/actuators which are attached to the end of the flexible links. The current 21st century research is more inclined towards FM s because of their several advantages over the RM s because of the flexible nature in getting adaptable to the environment and to the sudden intermittent changes.