Experiments in the Control of a Flexible Robot Arm

Abstract

Control of flexible manipulator arms offers high performance, light weight, and low cost over conventional rigid members. Presented is an experimental system for evaluating control systems. A dynamic modeling procedure is outlined and an optimal control system is discussed. Reconstruction of flexible modes is accomplished using strain gage data. Velocity of flexible modes is estimated with a reduced order observer. Experimental data is presented to verify dynamic modeling and modal reconstruction. Initial results using a deterministic optimal controller are presented.