A position control of 2 DOF flexible link robot arms based on computed torque method

Our group has proposed a tip position control method [13] which can be applied to both a flexible link robot arm and a rigid link robot arm. It can be regarded as a natural extension of the computed torque method for a rigid link robot arm. It is a nonlinear state feedback control based on an inverse dynamic model (states consist of link angles, deflection angles and those velocities). Also, it is quite different from a PD control and a sliding mode control. However, the discussion of stability and realization of the control system was inadequate in [13]. In this paper, we propose a robust design method which achieves the ultimate boundedness of control error system. Its effectiveness is illustrated by a brief analysis and numerical simulation results.