Abstract
Industrial and special robots are used increasingly in applications requiring fast motions and high accuracy, while manipulating large payloads. Joints and links flexibility limit the performance of such 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.
Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
