Task space trajectory control of flexible micro-macro robot in the presence of parametric uncertainty

A task space trajectory control method is presented for a serially connected robot arm consisting of a flexible macro arm and a rigid micro arm, which is carried by the macro arm. An ideal manifold is used to define the desired performance of the system in terms of vibration damping and end-effector flexural error compensation. The control scheme is derived such that the system would converge to the ideal manifold. The control algorithm is further modified in order to achieve adaptability to parametric uncertainty. Stability of the closed-loop system is demonstrated, and simulations are carried out to illustrate the effectiveness of the proposed control method. (C) 1999 Elsevier Science Ltd. All rights reserved.