A survey of control algorithms for flexible link manipulators

Being light weighted, less inertia and energy efficient, flexible link manipulators were preferred to substitute bulky rigid ones. Since the vibration induced by joint motion, the controls to realize desired performance meanwhile to suppress flexure's side effects take a critical role in the closed-loop system. Based on multi-link flexible manipulator, a variety of control algorithms for flexible link manipulators were summarized. The survey progressed from the simplest PID to the most advanced intelligent approach and covered almost each branch of control theory. In addition, the means dealing with chattering when conducting joint control is discussed too.