Dynamic control of the underactuated flexible robot in the operational space

Dynamic control of the underactuated flexible robot in operational space is implemented with robot end variables directly used as the control objectives. Firstly, the dynamic equations in operational space are derived using the assumed modes method. Kinematics and dynamics of the system are analyzed. Secondly, position control method is proposed based on the dynamic model in operational space. Then, according to the characteristics of the nonholonomical redundancies, the nonholonomical self-motion optimal control strategy is presented. Finally, simulation of a 3DOF underactuated flexible manipulator is completed and the results verify the validity of the presented control methods in the operational space. The conclusion can be drawn that the elastic vibration is suppressed to a certain extent via the nonholonomical self-motion optimal control strategy.