Skip to Main Content
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.