Kinematic Modeling and Real-Time Implementation of an Indigenous Control System for a Novel Three-Link Flexible Robot

Abstract

The domain of flexible robotics is gaining momentum due to its widespread advantages despite major technological barricades, such as in-situ vibration and joint instability. Flexible robotic system (FRS) pertains to unique designs of serial-chain assistive robots that exhibit the said inherent vibration impromptu. This chapter focuses on the control system algorithm of a prototype serial-chain FRS (PARv1.0), backed up by the indigenous firmware of the system controller and run-time software. The chapter also brings out the parametric relationship of the control system hardware over the electromechanical output of the FRS. The design function architecture of the prototype multi-degrees-of-freedom FRS, highlighted in this chapter, is a rare combination of three revolute and one prismatic (RRRP) joints intended for pick and place applications, having a 1500 mm radial span reach in the horizontal plane. A prototype miniature gripper actuated by a mini-servomotor is another novel development of this FRS.