Control of a Multi-Link Flexible Manipulator with a Decentralized Approach
Yuan, B. S.
Book, Wayne John
Huggins, J. D.
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This work seeks to provide an effective way for the development of the dynamics of a multi-link flexible manipulator. Due to the presence of nonlinearities, uncertainty, and link flexibility, a decentralized control is implemented here to provide robust stability without increasing the burden of on-line computation. Simulations and experiments show agreement with the analytic work.