Experiments on the Tracking Control of a Flexible One-Link Manipulator

[+] Author and Article Information
Chia-Hsiang Menq, Jack Zhijie Xia

Department of Mechanical Engineering, The Ohio State University, Columbus, OH 43210

J. Dyn. Sys., Meas., Control 115(2A), 306-308 (Jun 01, 1993) (3 pages) doi:10.1115/1.2899036 History: Received September 01, 1990; Revised July 28, 1992; Online March 17, 2008


Experimental study on the tracking control of a flexible onelink manipulator is reported in this paper. A tracking control scheme is developed based on the system transfer function. In the proposed control scheme, the desired control input for a given end-point trajectory is obtained by using a command feedforward controller instead of solving the inverse dynamic equations of the system. The proposed control scheme requires small amount of computations and can be easily implemented for real time control. The experimental results are presented, which shows very good tracking performance.

Copyright © 1993 by The American Society of Mechanical Engineers
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