The path precompensation method for flexible arm robot

Abstract

This paper constructed a closed loop path precompensation method for a flexible arm robot. A torque computation method taking care of the elastic arm deformation was first proposed and discussed. A concept of partial deformation compensation was subsequently proposed to improve the torque profiles and the trajectory fidelity. The advantage of this concept was first shown by examples of planar trajectory. After the construction of the closed-loop path precompensation method for a flexible arm; the torque method and partial deformation compensation were incorporated to track the spatial trajectory. Numerical simulations were given to show the usefulness of the proposed concept and method. (C) 1997 Elsevier Science Ltd.