Integrated structure/trajectory-tracking-control design of flexible robot arms

A structure design for the planar single-link case, in which the micro rigid link (MRL) is introduced between the flexible link and end-effector, is proposed to remove the disadvantage of the traditional structure design. Analytical modeling results show that high bandwidth and strong robustness can be achieved by a reasonable structure design of the MRL for trajectory tracking of the end-effector of the resultant prototype. For the case where the total mass and length of the MRL are known beforehand, integrated structure/trajectory-tracking-control design, as well as computer simulation, are carried out