Department of Automatic Control and Systems Engineering
Abstract
This paper presents an investigation into the development of open-loop control strategies for flexible manipulator systems using filtering techniques. Shaped torque inputs, including lowpass and bandstop filtered torque input functions, are developed and used in an open-loop configuration and their performances within a simulation environment characterising a constrained planar single-link flexible manipulator system studied in comparison to a bang-bang torque input. Simulation results verifying the performance of the developed control strategies are presented and discussed
