Dynamic modelling and control of flexible link manipulators: methods and scope- Part-1

Abstract

Objectives: This paper addresses two key issues in the area of flexible robotics. The issues are dynamic modelling and control of flexible link robots. A brief, yet, significant review is provided that addresses these issues. Methods: The various approaches used by researchers for dynamic modelling and control of flexible robots are presented. Besides that, methods used for achieving optimal control are also discussed. Findings: After a review of 153 research papers from the year 1975 to 2021, it has been found that a good dynamic model of flexible manipulator helps in reducing the control and computational efforts. Recent trends in research in the area of flexible manipulators are towards the use of sliding mode control and vision-based control techniques. Novelty: Inclusion of the effect of torsional vibrations besides lateral vibrations on the positional accuracy of flexible manipulators makes the current research work novel. Keywords: Flexible manipulator; modelling; dynamics; control