Experimental investigation on decomposed dynamic control considering the nonlinearity of flexible robotic arm

This paper provides an experimental investigation on decomposed dynamic control of flexible robotic arm. The dynamic processes of a flexible robotic arm consist of flexible and rigid motion components. The dynamic equations expressing the motion can be divided into two corresponding subsets; and on the basis of the decomposition, a decomposed dynamic control is proposed to design a controller for the flexible robotic arm. To verify the validity of the proposed controller, a one-link experiment was investigated. The one-link experimental investigation is weak to support the theoretical derivation of multi-link robotic arm, so a two-link experiment is used to estimate the performance of the proposed controller. Finally, the experimental results and discussion are presented.