Review of Control and Sensor System of Flexible Manipulator

Over the last few decades, extensive use of flexible manipulators in various robotic applications has made it as one of the research interests for many scholars over the world. Recent studies on the modeling, sensor systems and controllers for the applications of flexible robotic manipulators are reviewed in order to complement the previous literature surveyed by Benosman & Vey (Robotica 22:533-545, 2004) and Dwivedy & Eberhard (Mech. Mach. Theory 41:749-777, 2006) . A brief introduction of the essential modeling techniques is first presented, followed by a review of the practical alternatives of sensor systems that can help scientists or engineers to choose the appropriate sensors for their applications. It followed by the main goal of this paper with a comprehensive review of the control strategies for the flexible manipulators and flexible joints that were studied in recent literatures. The issues for controlling flexible manipulators are highlighted. Most of the noteworthy control techniques that were not covered in the recent surveys in references (Benosman & Vey Robotica 22:533-545, 2004; Dwivedy & Eberhard Mech. Mach. Theory 41:749-777, 2006) are then reviewed. It concludes by providing some possible issues for future research works.