Review on Modeling and Control of Flexible Link Manipulators
Dipendra Subedi, Ilya Tyapin, Geir Hovland
Abstract
This paper presents a review of dynamic modeling techniques and various control schemes to control flexible link manipulators (FLMs) that were studied in recent literature. The advantages and complexities associated with the FLMs are discussed briefly. A survey of the reported studies is carried out based on the method used for modeling link flexibility and obtaining equations of motion of the FLMs. The control techniques are reviewed by classifying them into two main categories: model-based and model-free control schemes. The merits and limitations of different modeling and control methods are highlighted.
Topics & Concepts
Flexibility (engineering)Link (geometry)Computer scienceControl (management)Control engineeringArtificial intelligenceEngineeringMathematicsStatisticsComputer networkDynamics and Control of Mechanical SystemsVibration and Dynamic AnalysisHydraulic and Pneumatic Systems