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Closed loop shaped-input control of a class of manipulators with a single flexible link

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2 Author(s)
Zuo, K. ; Dept. of Electr. & Comput. Eng., Waterloo Univ., Ont., Canada ; Wang, D.

A composite control strategy is outlined for a large class of multilink manipulators with one flexible link. The controller design is based on the inverse dynamics of the rigid manipulator and the use of a closed-loop shaped-input filter to reduce or eliminate the vibrations of the flexible link and to reject external disturbances. Both simulation and experimental results confirm the effectiveness of this design strategy. The design algorithm is a linear one, but the simulation results show that it is robust enough to compensate for vibrations in the full nonlinear system

Published in:

Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on

Date of Conference:

12-14 May 1992