Theoretical and experimental study of dynamics and control of a two-link flexible robot manipulator of revolute joints

摘要

The linearized dynamic model of a prototype robot arm of two flexible links is constructed using Ritz's approach and is validated by experimental frequency response functions. Some active control schemes are then designed to manipulate this robot arm on a small manoeuvre base, using pole placement technique, for the purpose of path tracking as well as vibration suppression, and are tested by computer simulations.