Control of a Lightweight Flexible Robotic Arm Using Sliding Modes

摘要

This paper presents a robust control scheme for flexible link roboticmanipulators, which is based on considering the flexible mechanical structureas a system with slow (rigid) and fast (flexible) modes that can be controlledseparately. The rigid dynamics is controlled by means of a robust sliding-modeapproach with wellestablished stability properties while an LQR optimal designis adopted for the flexible dynamics. Experimental results show that thiscomposite approach achieves good closed loop tracking properties both for therigid and the flexible dynamics.