Alteración en el Desempeño del Sistema de Control en Manipuladores Flexibles

Abstract

The high industrial level reached at the moment has taken to design more and more lightweight and slender robots. In comparison with the classic design of robots, this ones presents many economic advantages. However, this class of robots has the disadvantage of being less rigid which generally produces a greater deflection and vibration in its components during their operation.
The goal of this work is to show how the performance of the control system is altered, when control techniques designed for rigid robot are applied on flexible links robots.
In order to evaluate the effects of the fleXIbilityon the dynamic answer of a robot, a matrix model for flexible multi-bodies, based on multiple rotating Euler-Bernoulli beams is presented. The potentialities of this model are shown through the simulation for the two-links flexible manipulator case.
Furthermore, the necessary methodology for the application to the most common techniques for rigid manipulators control is presented and its performance are compared for different degrees of flexibility in the links. Thus, it is possible to demonstrate as the performance of the control system is deteriorated when the flexibility in the link is diminishes.