Article

Flexible Sensing Robot Manipulation: Deformation Estimation, Kinematics, and Control Based on Distributed Inertial Measurement

This paper proposes a flexible sensing manipulation framework that directly connects the structural dynamics of flexible links with sensing, kinematics, and control. The method first identifies the dominant vibration modes of each flexible link according to response convergence and excitation bandwidth criteria. Under the condition of full-rank modal observability, m retained modes require only m independent slope measurements and one reference IMU, and the continuous link deformation is reconstructed accordingly for flexible sensing forward kinematics and a PDE-based controller.

Part of the event: Flexible Sensing Robotic Arm Framework: Deformation Estimation, Kinematics, and Control

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