Theoretical and experimental investigation on decomposed dynamic control for a flexible manipulator based on nonlinearity

摘要

This paper presents a theoretical and experimental investigation on a flexible robotic arm. The dynamic processes of the arm involve flexible and rigid motion components. The associated dynamic equations can be decomposed into two corresponding subsets that form the basis for the proposed decomposed dynamic controller for a flexible robotic arm. One-link and two-link manipulators are used in experimental investigations to examine the accuracy of the theoretical analysis of the robotic arms. Finally, a comparison between the experimental and calculated results is made to verify the effectiveness of the proposed controller.