A controller with impulse force moment design for two-links flexible manipulator

A method of impulse force moment control is established for vertical planar two-links flexible manipulators. The elastic vibrations of two-link manipulators are decoupled from the flexible manipulator. The asymptotic stability of joint trajectory tracking control are proved. The simulation results show that, the elastic vibrations of two links manipulator are restrained when the tip trajectory of manipulator is being traced with this method.