Optimal Reaction Control for the Flexible Base Redundant Manipulator System The null space of the Jacobian for the redundant manipulators can be utilized to reach dual control goals and optimal effects. For the flexible base redundant manipulator system, the reaction force from the motion of the manipulator should be carefully handled while the end effector is tracking a desired trajectory. Different optimal goals are discussed, including the minimization of base deflection forcetorque and base energy dissipation path. Considering the base reaction dynamic, the reaction forcetorque is treated as the input of the base and the deflection energy is treated as the output, an integrated optimal goal is built and solved based on the LQR control to get an optimal feedback for the closedloop dynamics. We discuss the different optimal goals and implement trough the redefined acceleration. We test the different control laws on the three link manipulators which mounted on a threeDoF flexible base. Simulation results demonstrate that optimal goal in LQR form can be advantageous in terms of flexible base manipulator.

Research on 2DOF Antagonistic Bionic Flexible Manipulator * A flexible actuator with variable stiffness was improved in this study, and a 2DOF flexible manipulator was designed based on the principle of antagonistic motion. To solve the problem of joint redundancy drive, we focused on the position control, stiffness control and positionstiffness decoupling control strategy of antagonistic bionic manipulator. Based on the Lagrange equation, the joint dynamics model was established, and the control model of the joint position and stiffness of the antagonistic bionic joint was proposed. The traditional PID control theory was used to simulate and verify the effectiveness of the above control strategy. Experiments were carried out on the manipulator to verify the rationality of the structure and control model of the manipulator. The experimental results show that the manipulator can achieve more accurate displacement operation under various stiffness conditions according to the control strategy proposed in this paper, and flexible joints can effectively adjust the stiffness and position of the joints when subjected to external loads. The impact can be weakened when collision occurs.