Design of a PID Controller for a Flexible Five-Bar Closed-Chain Planar Manipulator
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.
KeywordsStep Response ASME Journal Elastic Displacement Flexible Manipulator Flexible Link
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