Dynamic compensability and compensability measure for robot systems with structural flexibility (Q1301103)

The purpose of this very important paper is to study a question concerning the use of the joint torque to compensate for the end-effector acceleration error caused by the links flexibility. The concept of dynamic compensability of flexible robot arms is based on the analysis of the mapping relationships between the joint force, acceleration of link flexural displacement, and the end-effector acceleration error caused by the link flexural acceleration. Main result: A new concept of dynamic compensability of flexibility (based on relationships between joint control torques, acceleration of flexible link and acceleration of end-effector) is introduced. Conditions for the existence of dynamic compensability are given, and properties of dynamic compensability are investigated. A dynamic compensability measure and dynamic compensability ellipsoid are proposed to quantify the degree of dynamic compensability. Finally, the authors illustrate how the theoretical results can be used for the numerical realization of a given model example.