Experiments in identification and control of flexible-link manipulators

Abstract

Interest in the study of flexible-link manipulators for space-based applications has risen strongly in recent years. Moreover, numerous experimental results have appeared for the various problems in the modeling, identification and control of such systems. Nevertheless, relatively little literature has appeared involving laboratory verification of tuning controllers for certain types of realistic flexible-link manipulators. Specifically flexible-link manipulators which are required to maintain endpoint accuracy while manipulating loads that are possibly unknown and varying as they undergo disturbance effects from the environment and workspace. Endpoint position control of flexible-link manipulators in these areas are discussed, with laboratory setups consisting of one and two-link manipulators