Abstract
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.
This work was supported by a grant of the MURST (Italian Ministry for the University and the Scientific Research) in the framework of the “METAFORE” project.
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© 2002 Springer-Verlag Wien
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Gallina, P., Gasparetto, A., Rosati, G., Rossi, A. (2002). Design of a PID Controller for a Flexible Five-Bar Closed-Chain Planar Manipulator. In: Bianchi, G., Guinot, JC., Rzymkowski, C. (eds) Romansy 14. International Centre for Mechanical Sciences, vol 438. Springer, Vienna. https://doi.org/10.1007/978-3-7091-2552-6_17
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DOI: https://doi.org/10.1007/978-3-7091-2552-6_17
Publisher Name: Springer, Vienna
Print ISBN: 978-3-7091-2554-0
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