This work is a computer simulation of the control of flexible robot arm. The dynamic equations for a single-link flexible robot arm have been derived rigorously. This arm has two degrees of freedom in rotation and one in translation so that the workspace is three-dimensional. The payload is simulated by attaching additional mass to the arm at a specified location. The governing equations of the plant and the measurements are non-linear. The process of control is divided into two stages: coarse control and fine control. Based on the pole-placement method, a linear observer is constructed for fine control. The numerical results of several cases are presented here. The effects of damping and sampling rate are also discussed.
Modelings and Control of Robotic Manipulators and Manufacturing Processes
, Haynes, L.
, Wang, B.
and Tsai, T.
Control of Flexible Robot Arm, Modelings and Control of Robotic Manipulators and Manufacturing Processes, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=820216
(Accessed November 30, 2023)