Modeling and optimal control of a lightweight bracing manipulator

Abstract Bracing strategy can improve the stiffness of a lightweight manipulator. A lightweight bracing manipulator provides better manuverability in gross motions and higher precision in small motions. In order to maintain these advantages, the structure and dynamics of these types of manipulators become more complicated. In this paper, the dynamic model, which includes gravitational effects and an optimal regulator with prescribed relative stability, is developed. The influence of the modeling uncertainties on the controlled system is considered.