11.12. Modeling and Control of Flexible Links

Try these first

1. 1.

   Define flexible links in robotics.

   Hint

   Think about how normal rods behave when a force is applied.

2. 2.

   What is the main use of the Euler-Bernoulli beam theory?

   Hint

   Consider situations where beams are a primary structural component.

3. 3.

   What is a flexible link?

   • A rigid component of a robot
   • A bending part of a robot
   • An electrical component

   Hint

   Consider how metal rods behave under force.

4. 4.

   True or False: Timoshenko beam theory accounts for shear deformation.

   • True
   • False

   Hint

   Think about how short and thick beams behave differently from long and slender ones.

5. 5.

   Given a flexible robotic arm modeled by Timoshenko theory, derive the equations for its vibration modes.

   Hint

   Consider both bending and shear as you create your formulations.

6. 6.

   Design a control algorithm for a flexible manipulator operating in a dynamic environment, addressing potential vibrations.

   Hint

   Think about how your control would adapt to different weights being lifted.