MODELING AND IMPLEMENTATION OF FEED-FORWARD CONTROL SCHEMES FOR FLEXIBLE ROBOTIC SYSTEMS

The performance of flexible robotic systems, particularly robotic manipulators, is often compromised by their inherent elasticity and vibration dynamics. To address these challenges, this study explores the modeling and implementation of feed-forward control schemes to enhance the accuracy and efficiency of flexible robotic systems. The research develops a dynamic model of a flexible manipulator, incorporating both the rigid-body and flexible deformations, and then applies feed-forward control strategies to mitigate the effects of flexibility-induced errors. By predicting and compensating for these errors before they occur, feed-forward control can improve the system's response time and reduce vibration, resulting in smoother and more precise manipulations. This work includes the design of control algorithms, their implementation in a robotic system, and experimental validation. The results demonstrate significant improvements in the performance of the flexible manipulator, highlighting the effectiveness of feed-forward control in enhancing the precision of such systems. The findings provide insights into the practical application of feed-forward control schemes, offering a promising approach for future developments in flexible robotic systems.