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

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4 Author(s)
Haibin Yin ; Div. of Human Mech. Syst. & Design, Hokkaido Univ., Sapporo, Japan ; Kobayashi, Y. ; Hoshino, Y. ; Emaru, T.

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.

Published in:

SICE Annual Conference (SICE), 2011 Proceedings of

Date of Conference:

13-18 Sept. 2011