6533b7cffe1ef96bd1257c45

RESEARCH PRODUCT

Static Deflection Compensation of Multi-Link Flexible Manipulators Under Gravity

Dipendra SubediTeodor Nilsen AuneIlya TyapinGeir Hovland

subject

VDP::Teknologi: 500General Computer ScienceoscillationsComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISIONFlexible arm3DoF manipulatorGeneral Engineeringelasticitydeflection compensationGeneral Materials ScienceElectrical engineering. Electronics. Nuclear engineeringTK1-9971

description

The static deflection compensation method of a planar multi-link flexible manipulator is proposed using the feedback from inertial sensors mounted at the tip of each link. The proposed compensation technique is validated experimentally using a high-precision laser tracker. The proposed strategy is experimentally verified using a three-link flexible manipulator. A strategy to compensate for the centripetal and tangential acceleration induced on the accelerometer mounted on the rotating link is proposed for correct inclination estimation. The improvement in the inclination estimation using the proposed compensation technique is verified both in simulation and experimental studies.

yearjournalcountryeditionlanguage
2022-01-01IEEE Access
https://doi.org/10.1109/access.2022.3144404