Modeling and Control of a Flexible Robot Link
When a flexible link is rotated around an axis, vibrations occur in the link. This paper describes a controller that is able to control the end-position of the link. The flexible link is modelled in state space. It is shown that the model is of infinite order. A method is given for reducing this model to a finite-order model, for which a controller can be designed. A number of experiments is carried out to demonstrate the performance of the controller.
KeywordsStrain Gauge State Feedback Modal Motion Infinite Order Pole Placement
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