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Flexible Sensing Robotic Arm Framework: Deformation Estimation, Kinematics, and Control

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Amir Hossein Barjini and other authors propose a flexible sensing robotic arm manipulation framework that directly connects the structural dynamics of flexible links with sensing, kinematics, and control. The method 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 based on this the continuous link deformation is reconstructed for flexible sensing forward kinematics and a controller based on partial differential equations. Experiments were conducted on hydraulic single-link and dual-link robotic arms. On the long-arm dual-link platform, the root mean square errors of the kinematic end effector were 0.0107 meters, 0.0194 meters, and 0.0102 radians, and the sensors used were fewer than those of the piecewise rigid method.