Configuration Control under Optimal Assignment of Set-Points in Flexible Robots

This paper summarizes some recent work and on-going research efforts on the topic of optimal configuration resolution of lightweight, redundant robotic manipulators to achieve self-motion control and vibration compensation. As a representative of this class of robots, we concentrate on a long-reach light-weight robotic arm with hub control for coarse positioning, and a three-link rigid end-effector so that the robot is redundant as it operates in a two dimensional task-space. Several configuration solutions are discussed via i) heuristic or geometric approaches, ii) optimal redundancy resolution based on minimization of infinitesimal motions, and iii) optimal set-point relegation that leads to an optimal PI controller.