Experimental Dual-mode Control of a Flexible Robotic Arm

This paper focuses on the implementation of a dual-mode controller for the maneuver of a single link flexible robotic arm. The joint angle trajectory tracking is accomplished by a proportional and derivative PD and a feedforward controller. Based on the pole placement technique, a linear stabilizer is designed for elastic mode stabilization. The stabilizer is switched on when the trajectory reaches the vicinity of the terminal state, and the effect of . switching time on arm vibration is investigated. An optical deflection sensor is used for on-line measurements of elastic deflections, and also used for the prediction of the static deflection of the arm in the target position. The robustness of the linear stabilizer at varying payloads is presented

Control of a Flexible Robotic Arm Using PD, Feed Forward, and Linear Stabilizer

Focuses on the implementation of a vibration suppression controller for the maneuver of a single link flexible robotic arm. The joint angle trajectory tracking is accomplished by a proportional and derivative (PD) and feedforward controller. Based on the pole placement technique, a linear stabilizer is designed for elastic model stabilization. The stabilizer is switched on when the trajectory reaches the vicinity of the terminal stage and the effect of switching time on arm vibration is investigated. An optimal deflection sensor is used for on-line measurement of elastic deflection and also used for prediction of static deflection of the arm at the target position