Feedback control of one‐link flexible manipulator with gear train

摘要

AbstractThis article reports experimental results in control of a one‐link flexible manipulator. A d.c. drive with gear train rotates the link with a tip‐mass in the horizontal plane. A “stiff” hardware servo‐system tracks the commanded drive velocity. We describe the experimental setup and develop a dynamic model for the one‐mode flexible vibration control. We design and experimentally test controllers for active damping of the vibrations and stabilization of the link‐tip position. Results for continuous control implemented with an analog computer and a sampled‐data, digital‐computer control are reported. A high control performance is achieved despite the gear‐train friction influence. In addition, sampled‐data digital controllers for tracking control of the link reference motion ar