This paper describes the control of a two-degree-of-freedom flexible robot arm. The controller design is based on a simplified model, which consists of a number of interacting submodels. The submodel for a flexible link consists of an infinite number of vibration modes. When a steady-state correction for the higher modes is introduced, it is possible to model the low-frequency behaviour correctly with only a limited number of modes in the model. The controller design is based on a simplified model. In this simplified model the Coriolis and centrifugal forces and nearly all steady-state corrections are disregarded. However, the coupling between the vibrations in the two links is taken into account. Experimental results of a laboratory set up demonstrate the feasibility of the proposed algorithm.
|Number of pages||7|
|Journal||IFAC proceedings volumes|
|Publication status||Published - 16 Sep 1991|
|Event||3rd IFAC Symposium on Robot Control, SYROCO 1991 - Vienna, Austria|
Duration: 16 Sep 1991 → 18 Sep 1991
Conference number: 3