Abstract
Joints and links flexibility limit the performance of industrial robots by introducing resonant frequencies in the range of the control bandwidth. Two robots were designed and built to better understand the dynamics and demonstrate the control of such robots under challenging operating conditions. One of the robots is a 3D anthropomorphic robot with two flexible links, and the other is a two-link planar robot with changeable, built-in joint flexibility. Robust and adaptive control algorithms have been demonstrated. The experimental results illustrate the difference between various control algorithms in meeting the required goals.
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