Decreasing end-effector deformation of the flexible manipulator through local motion planning

Based on the analysis of motion behaviors of animals, a new idea of controlling vibration of the flexible manipulator is suggested. The concept of controllable local degrees of freedom is proposed and introduced to the topological structure of the flexible manipulator. By way of planning the independent local motion provided by the controllable local degrees of freedom, the end-effector deformation of the flexible manipulator can be effectively decreased through dynamic coupling. The relevant method for vibration control of the flexible manipulator is put forward. Numerical simulations are carried out, and the results verify the feasibility of this method.