SENSOR-BASED DEFLECTION MODELING AND COMPENSATION CONTROL OF FLEXIBLEROBOTIC MANIPULATOR

A sensor-based technique is proposed for the modeling and control of t he manipulator positioning errors caused by structural deflections of the flexible links. A laser-optical sensor system is specially designe d for measuring the deflections of each flexible link, and the robot p ositioning inaccuracies are thus deduced through the link deflections measured;and, finally, compensated for in real time by adjustment of t he joint variables. The principle of measurement is described, the sen sor-based modeling and compensation algorithms of the robot positionin g errors are presented, and the simulation results are given in the pa per. (C) 1998 Elsevier Science Ltd. All rights reserved.