Abstract
Flexible links are widely used in industrial robots and special robots due to their light weight, high load ratio and good maneuverability. Due to the flexibility of the connecting rod, the vibration and deformation of the manipulator will occur during the movement, which will affect the stability of the flexible arm. According to the theory of elastic deformation, the attitude of the whole flexible arm can be estimated by indirectly measuring the deformation of the flexible arm. In this paper, low-cost sensors such as encoder, strain sensor and angle sensor are used to measure the deformation of the flexible arm. Through theoretical analysis, the posture and end position of the flexible arm after deformation are obtained. The experimental system is built to verify the proposed method. The results show that the method is correct and effective. The measurement error is 6.5% in the experiment, which meets the measurement accuracy requirements of flexible arm control.
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