Near-elimination of small oscillations of articulated flexible-robot systems

This paper proposes a new hybrid actuation system for near-elimination of the small oscillations of articulated flexible-robot systems (AFRS). The hybrid actuation control forces are obtained by solving a fully-constrained inverse-dynamics (FCID) problem of relatively stiff robots experiencing small deformations, which lead to deterioration of their performance and precision. The FCID procedure is based on the floating frame of reference (FFR) formulation that allows for systematically determining the actuation forces associated with deformation modes. By using the resulting FCID algebraic equations, numerical integration of the equations of motion to determine the AFRS actuation forces can be avoided. This paper summarizes the new motion/shape control strategy to be used and defines problems to be addressed in more detailed future investigations. (C) 2021 Elsevier Ltd. All rights reserved.

Automated summary

This paper introduces a new hybrid actuation system for reducing small oscillations in articulated flexible-robot systems. By solving a fully-constrained inverse-dynamics problem, the actuation forces can be determined without numerical integration of the equations of motion. Future research will focus on exploring the motion/shape control strategy further.