An example of optimal set-point relegation for self-motion control in redundant flexible robots

Consideration is given to the optimal relegation of system set-points as applied to the problem of self-motion control in redundant flexible robotic manipulators. A long planar flexible manipulator equipped with a four-degree-of-freedom rigid end effector is used as an example to illustrate the relegated controller design. The main drawbacks of the proposed scheme are the intensive computation required for computing the optimal set-points and the need for somewhat fast motor dynamics