Dynamic compensability and compensability measure for robot systems with structural flexibility

In this paper, we are concerned with using the joint torque to compensate f or the end-effector acceleration error caused by links flexibility. A new c oncept of dynamic compensability of flexibility based on relationships betw een joint control torque, acceleration of flexible link and acceleration of end-effector is introduced. Conditions for the existence of dynamic compen sability are given, and proprieties of dynamic compensability are investiga ted. A dynamic compensability measure and dynamic compensability ellipsoid are proposed to quantify the degree df dynamic compensability. Examples are given to illustrate this concept. (C) 1998 Elsevier Science Ltd. All right s reserved.