End-Effector Trajectory Tracking of Serial Flexible Manipulators

Light weight manipulator design results in low energy consumption and allow often high working speeds. However, due to the increased system flexibility undesired vibrations occur. Thus, in the control design these flexibilities must be taken into account. In order to obtain a good performance in end-effector trajectory tracking an efficient feedforward control is used, which is then supplemented by additional feedback control to account for small disturbances and uncertainties. (© 2012 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)