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Going beyond rigid manipulators – A review of control of flexible robotic arms

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 Going Beyond Rigid Manipulators – A Review of
Control of Flexible Robotic Arms

Hafiz Muhammad Wahaj Aziz, Ifrah Maqsood, Malik Wajahat, Aamir Arslan Afzal, Jamshed Iqbal
Department of Electrical Engineering,
FAST National University of Computer and Emerging Sciences (FAST-NU), Islamabad. Pakistan
Corresponding author: jamshed.iqbal@nu.edu.pk

Abstract— Robots are now an integral part of automation the robotic arm such as increased settling time, especially at
sector, thus indicating the importance of the associated control the end point. The control algorithms of rigid manipulators
strategies. In contrast with conventional rigid manipulators, are insufficient when it comes to flexible manipulators. Thus
flexible arms offer several benefits in terms of light weight and special algorithms must be developed to cater for flexibility
power efficient structure, safe operation due to reduced inertia, in the robotic arms, and these algorithms can be complex,
low manufacturing cost and faster movements. The present considering that the system is non-linear.
paper systematically reviews the key linear as well as non-
linear techniques to control flexible manipulators. Flexibility in
link as well as in joint is discussed highlighting the control
challenges. It is anticipated that this in-depth study will be
potentially beneficial for researchers, control engineers and
industrial interns.

Keywords—Robotics; Flexible Robotic Arm; Control

Techniques.

I. INTRODUCTION
A robot is defined as an electro-mechanical system,
designed to perform specific tasks, with speed, accuracy and
precision [1]. They come in various shapes and sizes, and for
various tasks and functions. Application areas of robots
include but not limited to; medical [2-6], space [7-9],
industry [10-12], nuclear power plants [13], underwater [14,
15] and for target tracking [16, 17]. In medical, they find
potential for rehabilitation [18-20], motion assistance [21-
25], cognition [26, 27] etc. The locomotion system of robots
is usually based on links [28], legs [29] and wheels [30-35].
Tremendous research is being carried out in relevant
domains including robot modelling [36-39] and control [40]
[41-48]. One very common function performed by modern
robots, is manipulation of objects in their surroundings [1].
In general, these manipulators resemble human arms and
have multiple Degree of freedom (DOF) [49]. Figure 1
shows a 6 DOF manipulator performing a spot welding task
on an automobile body in an automotive robotized site [50].
Robotic manipulators can be further categorized as
rigid or flexible. Most robotic manipulators are designed
with steel or aluminum frames for increased tensile strength.
The result are rigid robotic arms, which are heavy and
immobile. With advances in material technology, robotics,
and the increasing demand of lightweight and portable
robotic arms, have been the catalyst for research in the
design and control of flexible robotic manipulators.
Flexibility comes from the use of plastic or carbon-fiber
frames, which significantly reduces the cost of
manufacturing and the power consumption of the system.
But with flexibility come a varying degree of inaccuracies in
Fig.1: A manipulator performing spot welding task [51]
The remainder of the paper discusses the various
possibilities when it comes to control of flexible robotic
manipulators. Section II explains the details and
categorization of flexible robotic arm, while Section III
presents the various control techniques for flexible robotic
arms available. Section IV and V explain the Linear and
Non-Linear control techniques respectively. Finally Section
VI presents some comments and conclusions.
II. FLEXIBLE ROBOTIC ARMS
An arm consists of two parts. There are joints which
act as pivots of rotation, connected together with links [36].
A single robotic arm may have multiple joints and links.
Flexibility in robotic arms can be simulated in two ways:
A. Flexible Link
A flexible link is the produced when the armature of
the robotic arm is able to bend with force. This can be
brought about the material used for the armature’s
construction, such as plastic or carbon-fiber or it can be
produced unintentionally by lengthening a rigid armature,
which, when long enough, starts to exhibit properties of a
flexible arm [52]. Figure 2 illustrates a simulation benchmark
with a flexible link module, developed by Quanser.

Fig. 2: Flexible Link by Quanser [53]
B. Flexible Joint
A flexible joint is produced when the robotic arm
allows it’s armature to bend at the pivot. This action can be
produced by cushioning the armature with springs attached
to the base of the arm [54]. Figure 3 shows a similar
simulation benchmark to that shown in Figure 2, with a
flexible joint module, also developed by Quanser.
Fig. 3: Flexible Joint by Quanser [55]
III. CONTROL TECHNIQUES
There are numerous control techniques used to
control robotic arm systems. These systems are first
modeled and then control techniques are applied on these
designed models. There are two types of control techniques:
Linear and Non-Linear.
A. Linear Control
The most commonly used linear control techniques
are Proportional Integral Derivative (PID) and Linear
Quadratic Regulator (LQR). PID is the technique most
commonly used in industry nowadays, because of simplicity
and its stability. Figure 4 represents the PID control scheme
being applied on robot.
Fig. 4: Control scheme of PID [54]
The PID controller consists of a form of phase
lead-lag compensator having one pole at origin and one pole
at the infinity. A PID controller can also be split into two
parts, namely the PI and PD controllers, where the PI
controller is a form of phase-lag compensator and the PD
controller is a form of phase-lead compensator. A standard
PID controller is also known as a “three-term” controller,
whose transfer function is given by (1):
(1)
G(s)= + +
Tuning a PID controller appears to be conceptually
intuitive, yet can be tough in practice if multiple objectives
such as short transient and substantial stability are to be
achieved [56]. Initially the properties of PID frequency are
analyzed. Then according to the results, a PID controller is
designed that bridges the relation among the proportional
gain (Kp), the integral gain (Ki), and the derivative gain
(Kd),with the characteristics of closed loop feedback. This
relationship is helpful in adjusting the values of PID
parameters according to the response of closed system [57].
Table 1 illustrates the PID controller parameters and their
effect on system.
Table 1: Control parameters for PID
Over Settling Steady state
Rise Time
shoot time error
Small
KP Reduce Increase Reduce
change
Small Small
KI Reduce Reduce
change change
KD Reduce Increase Increase Eliminate
PID control technique can also be used with other
control techniques, such as the Fuzzy Logic Control. These
two control techniques can be used in a combination to get a
more reliable and stable system, as well as to improve the
overall efficiency and system performance [58].
Another important and very common technique
used for linear control of robotic arm systems is the LQR.
The reason for the popularity of LQR is that in many
designs the quadratic cost must be minimized. However
minimizing cost is not the only objective. There are many
other design goals, and the problem is that by decreasing
cost without considering other specifications would not
necessarily result in a suitable controller. To have a
satisfactory controller each performance specification
should be given equal and explicit consideration. LQR
provides a way to express many objectives as integral
quadratic cost thus gives multiple objectives the required
consideration need [59]. Since LQR deals with cost
reduction, the designers can decide which factors are more
important in a control scheme, to get a proper transient or
steady-state response. Another advantage of the LQR
controller is that it has a property of phase margin, which is
greater than 60 and an infinite gain margin. These properties
are useful in many applications of power electronics.
However it cannot deal with systematic uncertainties like µ-
synthesis and H∞ [60]. This technique is used for
suppressing the vibrations as well as for reference tracking.
When comparing a control scheme based on LQR and
another based on LQR with PID, a significant amount of
vibrations were reduced when PID was used along with
LQR. However in case of tracking the response both LQR
and LQR with PID showed similar results [61]. At times
LQR can also be used with a robust compensator to design a
LQR Robust Controller for the plant. Such a model would
have contain a nominal feed forward controller, an LQR
controller and a robust compensator. Such techniques are
helpful in controlling a plant that have both linear and
nonlinear disturbances. The linear disturbances would be
removed using LQR and nonlinear disturbances would be
deal with robust controller [62].
B. Nonlinear Control
A lot of research has recently been done, to control
the nonlinearity of the systems, especially in the field of
robotics [63]. Some of the methods of nonlinear control are
described here.
Fuzzy logic control (FLC) system design [64]
consists of pre and post processing of control inputs and
outputs respectively. FLC consists of four components
shown in Figure 5; a Fuzzification interface which converts
the inputs to the information, which can be used by the
interface mechanism to apply rules, a De-Fuzzification
interface that converts the results of the interface mechanism
to the actual inputs for the process, and the Rules-Base that
contains the set of ‘if-then’ rules to achieve good control.
The main focus of this paper was on the rule base of the
controller. The rules are set based on the experience of the
human expert. The performance of the controller is directly
related to the quality and detail of the loaded rules, as
decisions are based on the given rules. The feedback
( ) is used to for the decision making process and
the ( ) is calculated using (2).
( )= _ ( ) – ( ) (2)
Fig. 5: Fuzzy logic controller architecture [64]
Sliding mode control [65] is another method that
forces the system trajectories to constrain to the sliding
surface, which is in fact the normal behavior of the system.
The system invariance properties would be observed during
the sliding phase known as chattering. It can excite
undesirable high frequency dynamics. The chattering can be
reduced by combining it with the fuzzy logic controller.
For a system consisting of cascaded subsystems,
the back stepping control technique [66] is used. As an
example, the spacecraft kinematics and dynamics form a
cascaded system as shown in Figure 6. The vector ‘ω’ is a
pseudo input vector, whereas the input ‘u’ is the real control
input. The back stepping approach determines how to
stabilize q using ω and then, how ‘u’ should derive ‘ω’ in
order to stabilize ‘q’.
Fig. 6: Spacecraft system and back stepping controller [66]
IV. CONTROL OF FELXIBLE ARM BASED ON LINEAR
The linear techniques are the easiest as compared to
the non-linear techniques but linear techniques are not as
accurate as non-linear.
A. Proportional Derivative Controller
This controller is used to control the position and
vibrations of the flexible arm. This PD Controller was used
along with an algorithm known as Simple Genetic
Algorithm (SGA). The results show that it gives high
accuracy along with faster convergence [67]. Figure 7
shows the improved GA control scheme.
Fig. 7: The feedback control scheme based on improved GA
[67]
B. Adaptive Control
Adaptive Control is the combination of control
theory and system identification theory. Control theory
helps in attaining the required response of a system, while
system identification theory helps in finding out the
unknown parameters of the system [68].
C. End Point Control
Park and Asada worked on how to minimize the
sensor/actuator distance in order to have a minimum phase
end point control. It was previously found that in many
robotic applications, due to flexibility the sensors are not
collocated with the actuators which results in the non-
minimum phase system. To change the location of torque
application point, a transmission mechanism was attached
along the arm [69].
D. Joint Control
To control the tip position of a flexible arm,
Goldenberg had made a feed-forward controller along with
feedback PD controller. The feed-forward method cancels
the pole-zero of the dominant closed loop poles of the
system and the feedback minimizes any error in the joint
variable [70]. Another controller is used which focuses on
end point control of single flexible link. The model was
derived using the Lagrange method, which was based of
Euler-Bernoulli Theory. Voltage being the input is added to
the controller and the position and the trajectory is
controlled using PID controller [71].
A controller known as Generalized Proportional
output feedback controller was used to control the behavior
of an uncertain flexible robotic arm. This controller had a
fast on-line closed loop identification method [72]. Another
approach for controller known as trajectory tracking
approach is used for end point trajectory control of flexible
manipulator, which was based of model predictive control.
This approach was actually used to minimize the measured
lag inflexible manipulators. The manipulator’s dynamics
were used to derive the model and a special prediction
strategy was adopted in order to predict the robot’s future
behavior with a delayed feedback [73]. Figure 8 illustrates
how the controller works along with the predictive model.
Fig. 8: General Model Predictive Control Scheme [73]
V. CONTROL OF FELXIBLE ARM BASED ON NON-LINEAR
The nonlinear techniques for both flexible link and
flexible joint applications are described in this section.
A. Flexible joint robotic arm control
The feedback linearization based controller
presented in [74] is used to control the single link flexible
joint manipulator as shown in Figure 9. Two state variables
are utilized, one at each side of the manipulator. In this
approach first the equations of motion are written then the
state variables are calculated, then the equations are
linearized. The Uncertainty and Disturbance Estimator
technique [75] is used to estimate the disturbances and make
the feedback linearization based controller strong.
Fig. 9: Single link robot manipulator with flexible joint [74]
In another research, the sliding mode controller is
designed for flexible joints based on Genetic Algorithm
(GA) [76] and Input Estimation approach (IE) [77]. The IE
approach measures the disturbance in the torque without
using the torque sensor based on Kalman Filter (KF) and
Recursive Least Square Estimator (RLSE) method. Tuan et
al. [78] proposed IE approach in 1996 and it has
successfully solved the induction heat [79, 80] and many
other problems. The GA is used to search the optimal
controller design parameters for SMC.
Another approach which is presented which is the
fuzzy PID controller [81]. Fuzzy logic controller is used
with PID to change the gains of the controller based on the
inputs. So the PD + I gains are the nonlinear functions of the
input signals and have self-tuned capability performance
[82, 83]. In this approach only four If-Then rules are used
for each PD and I. These rules are generic and
mathematically rigorous and can be used for other systems.
The conventional PI controllers are less efficient than SMC
[84] as, PI is a linear technique and does not guarantee the
convergence of error to zero.
Some other techniques have also been deployed to
minimize the effect of flexible joint in the real world
applications. For example, the back stepping approach [85]
in which the actuator dynamics (brushed DC motor) are also
taken into account. This control law is to cope with the
difficulties introduced by cascade structure and to achieve
the stability. In other researches [86, 87], dynamic model of
the flexible joint robot is derived using Lagrange method.
The vibration properties of the robot were studied using
numerical simulations, and it was concluded that the
dynamic model can represent the joint flexibility and
vibrations at the end-effector caused by the flexible joints.
B. Flexible link robotic arm control
Dynamic models [88, 89] of flexible link robotic
arm have been derived using different approaches. The
dynamic models of single link flexible arm [88] as shown in
Figure 10 are derived using the assumption that the link
weight is concentrated at the tip. These models are useful in
the analysis and design of closed loop control system for tip
positioning.
Fig. 10: Single link robot manipulator with flexible link [88]
Many control algorithms have been proposed to
deal with the flexible link robotics arm. A Nonsingular
Terminal Sliding Mode (NTSM) controller [90] for a two
link flexible manipulator, based on GA and FLC is
proposed. In this approach, the whole system is divided into
input-output subsystem and a zero dynamic subsystem.
NTSM is used to ensure that the system converges to its
equilibrium and the FLC is used to minimize the chattering
effect of NTSM. The zero dynamics are stabilized using
GA.
In another research [91], an adaptive fuzzy
controller is used to overcome the defects of the
conventional control methods. It utilizes the neighborhood
clustering algorithm, the inverse system theory and the
variable regressive algorithm. This system is useful for
nonlinear control of a multilink flexible robotic arm, and can
suppress the overshoot, undershoot and vibrations of the
arm during motion.
In most of the models that have been developed
and described in this paper, the full effects of dynamic
structural flexibility are neglected which results in error
while tracking accuracy in transient and steady state. So the
2nd order sliding model [92] is presented using the structural
flexibilities effects for the set point and trajectory control of
the system. This resulted in the improved performance and
precision.
VI. CONCLUSIONS
A review of major control techniques is presented for
the control of both flexible joint and link robotic
manipulators. It is identified that the combination of linear
and nonlinear control techniques produces accurate control
results, For example, the parameters of PID controller can be
assigned by the fuzzy controller to make it more robust. In
future, the control of robotic manipulators would be more
efficient towards uncertainties and random errors. So the
systems would be more reliable, precise, accurate and robust
in terms of uncertainties and change in plant parameters.
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