Romansy 14 pp 141-150 | Cite as

Design of a PID Controller for a Flexible Five-Bar Closed-Chain Planar Manipulator

  • Paolo Gallina
  • Alessandro Gasparetto
  • Giulio Rosati
  • Aldo Rossi
Part of the International Centre for Mechanical Sciences book series (CISM, volume 438)


This paper presents the design of a PID controller for a flexible planar manipulator, based on a very accurate dynamic model of the system. The model is employed to test a classical PID regulator in simulation, in order to be able to control a flexible five-bar closed-chain planar manipulator. The chosen PID controller is described, and the most significant simulation results are presented and discussed.


Step Response ASME Journal Elastic Displacement Flexible Manipulator Flexible Link 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Wien 2002

Authors and Affiliations

  • Paolo Gallina
    • 1
  • Alessandro Gasparetto
    • 2
  • Giulio Rosati
    • 1
  • Aldo Rossi
    • 1
  1. 1.Dipartimento di Innovazione Meccanica e GestionaleUniversità di PadovaItaly
  2. 2.Dipartimento di Ingegneria Elettrica, Gestionale e MeccanicaUniversità di UdineItaly

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