Modelling flexible multi-link robots for vibration control: numerical simulations and real-time experiments

In this paper, a method based on the experimental knowledge of the frequency response function at some points of a flexible multi-link robot is proposed to evaluate its deformation and, in particular, the position of the end-effector. The rationale behind the method, which can also be used for structures more complex than the one analysed in this paper, is to try to minimize the number of sensors, while maintaining a reasonable accuracy. We propose two simple control laws aimed at minimizing implementation costs and, in order to show the performance of the method, we experimentally test them on a spring steel flexible beam.