Static Deflection Compensation of Multi-Link Flexible Manipulators Under Gravity
Peer reviewed, Journal article
Published version
Permanent lenke
https://hdl.handle.net/11250/2997431Utgivelsesdato
2022Metadata
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Originalversjon
Subedi, D., Aune, T. N., Tyapin, I. & Hovland, G. (2022). Static Deflection Compensation of Multi-Link Flexible Manipulators Under Gravity. IEEE Access, 10, 9658-9667. 10.1109/ACCESS.2022.3144404Sammendrag
The static deflection compensation method of a planar multi-link flexible manipulator is proposed using the feedback from inertial sensors mounted at the tip of each link. The proposed compensation technique is validated experimentally using a high-precision laser tracker. The proposed strategy is experimentally verified using a three-link flexible manipulator. A strategy to compensate for the centripetal and tangential acceleration induced on the accelerometer mounted on the rotating link is proposed for correct inclination estimation. The improvement in the inclination estimation using the proposed compensation technique is verified both in simulation and experimental studies.