Trajectory tracking algorithm for elastic robotic mechanism

Abstract

In this paper a new algorithm for path tracking of robotic mechanism is presented. Through the history of robotic mechanisms, path tracking was considered one of the hardest tasks, due to many different problems. Usually, robotic mechanism is modeled as a rigid mechanism and that is simplified assumption. Elasticity of the mechanism needs to be considered and that represents one of the biggest problems. The example of the robotic mechanism examined in this paper has 6 DOF. Complexity of this mechanism comes from its elasticity and controlling it with two motors is a hard task. Presented method is based on controlling a mechanism with elastic parts to track desired path by following rotations of two motors.