Reduction of the End Effector Sensitivity to the Structural Deflections of a Single Flexible Link: Theoretical and Experimental Results

[+] Author and Article Information
Nabil G. Chalhoub, Xiaoying Zhang

Department of Mechanical Engineering, Wayne State University, Detroit, Michigan 48202

J. Dyn. Sys., Meas., Control 115(4), 658-666 (Dec 01, 1993) (9 pages) doi:10.1115/1.2899193 History: Received February 01, 1992; Revised December 01, 1992; Online March 17, 2008


The fine positioning problem of the gripper of flexible robotic manipulators is addressed in this study. A two-axis cartesian micro-manipulator is implemented to reduce the sensitivity of the gripper to the structural deformations of a single flexible link. A laser head with a dual axis photodetector are used to provide direct measurements of the transverse deflections at the free-end of the beam and to detect mechanical inaccuracies caused by manufacturing imperfections and assembly misalignment. The advantages of the integrated system of the micro-manipulator with a single compliant beam are demonstrated and compared to the one without the micro-manipulator for two different control schemes, “rigid body controller (RBC)” and “rigid and flexible motion controller (RFMC).” Both theoretical and experimental results have proven the capability of the micro-manipulator in significantly improving the gripper positional accuracy. Furthermore, it was demonstrated that the micro-manipulator tends to complement rather than overlap the efforts exerted by the host beam controller.

Copyright © 1993 by The American Society of Mechanical Engineers
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