Control of Redundant Flexible Manipulators with Redundancy Resolution

Abstract

This paper deals with the online control of a redundant flexible link manipulator to achieve minimum oscillations using the redundancy resolution technique. Different redundancy resolution techniques proposed and used for rigid link manipulators are tested for their use in the case of flexible link manipulators. The simulation model of a planar three-link flexible manipulator is used in this study. The redundancy resolution using kinetic energy minimization techniques is compared with the local joint acceleration minimization method to show the advantage of achieving minimum vibrations.