Passivity analysis for a single flexible-link robot

Abstract

This work describes the controlling of a physical platform and the mathematical model for a single link flexible robot manipulator, whose motion is restricted to an horizontal plane, so that the gravity effects are neglected. The modeling problem is addressed from so-called Euler-Bernoulli beam equation. The design, construction and integration of an experimental set-up developed for this work is also presented. A passivity velocity feedback scheme is then devised for controlling the end tip position of the flexible link. Finally, some experimental results, using this control method, are shown to and illustrate the overall system performance.