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

Abstract

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.