A Hierarchical Structure Control Strategy Based on MPC for a Six-DOF Flexible Joint Manipulator

<div>The model of the <span class="nowrap"><svg height="8.8423pt" id="M1" style="vertical-align:-0.2064009pt" version="1.1" viewbox="-0.0498162 -8.6359 3.66193 8.8423" width="3.66193pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M244 607C244 633 228 655 200 655C166 655 146 618 146 594C146 564 166 546 191 546C221 546 244 574 244 607ZM222 91L209 114C184 94 148 66 133 66C127 66 124 73 130 96L201 370C213 416 211 448 191 448C162 448 88 407 29 352L42 328C73 354 104 371 114 371C120 371 119 365 115 345L53 92C32 5 45 -12 68 -12C103 -12 186 50 222 91Z"></path></g></svg>-</span>th flexible joint in the manipulator.</div>

Mathematical Problems in Engineering

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Figure 2

Figure 2: A Hierarchical Structure Control Strategy Based on MPC for a Six-DOF Flexible Joint Manipulator 