On the Design and Vibration Analysis of a Three-Link Flexible Robot Interfaced with a Mini-Gripper

Vibration Attenuation and Joint Navigation through Robust Control System Hardware for Multi-Degrees-of-Freedom Flexible Robots

“…Indigenous design, analysis and successful hardware development of a test-bed prototype of a novel 3-d.o.f. FRS, fitted with a mini-gripper,have been reported by our group [22][23][24].…”

Design, Modeling and Firmware of a Serial-Chain Multi-Link Direct Drive Flexible Robotic System with Sensor-Augmented Mini-Gripper: Part I

“…We have investigated such scenarios of control dynamics for a multi-degrees-of-freedom FRS fitted with mini-gripper [20], postulating spring-dashpot-based model (for vibration signature) and strain gauge-induced model (for dynamic strain signature). Firmware of a multi-link serial-chain FRS using flexible shafts for drive motion of the joints have been developed by the author's group [21,22].…”

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“…It is important to comment here that laboratory-based experimentation on the control semantics of single-link flexible robot gained substantial leverage over the years. These flexible arms have served as robust test-bed for various new control strategies like load-adaptive control (using end-of-arm mass) [15,16]; end-point control [17]; acceleration-feedback control [18] & inversion method-based trajectory control [19] for a test set-up of a three-link serial-chain FRS and subsequently, realization of its firmware have been reported by the author's group [21,22]. The proposition of real-time vibration signture of planr FRS & its harnessing has been discussed thoroughly by the author…”