Dynamics based force control of a one-link flexible arm considering bending and torsional deformation

摘要

We discuss the dynamics based force control suppressing the coupled bending and torsional vibrations of a one-link flexible arm with a rigid tip body. We construct output feedback control law on the basis of the distributed parameter model using Lyapunov method, and prove the asymptotic stability of the closed-loop system. The proposed controller consists of the PD feedback of the motor angle and a feedback of the bending moment at the root of the flexible arm. We perform some simulations to show the effectiveness of the proposed controller.