State-feedback controller for a two-degree-of-freedom flexible robot arm

J. van Amerongen, L. Kruise, P. Lohnberg, M.J.L. Tiernego

    Research output: Contribution to journalConference articleAcademicpeer-review


    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.
    Original languageEnglish
    Pages (from-to)399-404
    Number of pages7
    JournalIFAC proceedings volumes
    Issue number9
    Publication statusPublished - 16 Sep 1991
    Event3rd IFAC Symposium on Robot Control, SYROCO 1991 - Vienna, Austria
    Duration: 16 Sep 199118 Sep 1991
    Conference number: 3


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