Controlling the impact response of a one-link flexible robotic arm

Abstract

An open-loop control system is designed using frequency-domain techniques to compute a desired hub torque profile. The motion of the arm after tip impact, including hub actuation, is simulated. Simulation results are compared to experimental data. It is shown that the controller damps vibration caused by the impact and allows the steady-state tip deflection to be predetermined.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>