This research paper delves into the realm of control strategies aimed at enhancing the performance of flexible robot manipulator systems. The study focuses on the exploration and unveiling of novel feed-forward control schemes tailored to mitigate the challenges posed by system flexibility. With an emphasis on precision, stability, and efficiency, the proposed strategies harness the potential of advanced control techniques to elevate the capabilities of these complex systems. Through theoretical analysis and simulation, the effectiveness of the feed-forward schemes is demonstrated, showcasing their potential to revolutionize the operation of flexible robot manipulators across various industries
D.M. Aspinwall. 1980. Acceleration profiles for minimising residual response. Transactions of ASME: Journal of Dynamic Systems, Measurement and Control, vol. 102 (1), pp. 3–6.
F. Khorrami, S. Jain, and A. Tzes. 1994. Experiments on rigid body-based controllers with input preshaping for a two-link flexible manipulator. IEEE Transactions on Robotics and Automation, vol. 10(1), pp. 55–65.
H. Moulin and E. Bayo. 1991. On the accuracy of end-point trajectory tracking for flexible arms by non-causal inverse dynamic solution. Transactions of ASME: Journal of Dynamic Systems, Measurement and Control, vol. 113, pp. 320-324.
J.C. Swigert. 1980. Shaped torque techniques. Journal of Guidance and Control, vol. 3(5), pp. 460-467.
Jinjun Shan, Hong-Tao Liu, Dong Sun. 2004. Modified input shaping for a rotating single link flexible manipulator. Journal of Sound and Vibration, vol. 285, pp. 187-207.
M.O. Tokhi, and H. Poerwanto. 1996. Control of vibration of flexible manipulators using filtered command inputs. Proceedings of international congress on sound and vibration, St. Petersburg, Russia, pp. 1019–1026.
M.O. Tokhi and A.K.M. Azad. 1996. Control of flexible manipulator systems. Proceedings of IMechE-I: Journal of Systems and Control Engineering, vol. 210, pp. 283-292.
N.C. Singer and W.P. Seering. 1990. Preshaping command inputs to reduce system vibration. Transactions of ASME: Journal of Dynamic Systems, Measurement and Control, vol. 112(1), pp. 76-82.
P.H. Meckl and W.P. Seering. 1990. Experimental evaluation of shaped inputs to reduce vibration of a cartesian robot. Transactions of ASME: Journal of Dynamic Systems, Measurement and Control, vol. 112(6), pp. 159-165.