Two-Degree-of-Freedom Control System for Motion Control of Flexible Cartesian Robots

Abstract

Abstract In this paper, a two-degree-of-freedom control system for motion control of a flexible cartesian robot is presented. The two-degree-of-freedom control system consists of a feedback controller and a feedforward controller. The feedback controller is designed based on Lyapunov’s direct method while the feedforward controller is designed based on the inverse system. A feedback control of the tip motion of a flexible system is derived by considering the time rate of change of the total energy of the system. The inverse system consists of finding the feedforward input that needs to be applied at base so that the end point of the arm can follow a desired trajectory. The simulation and experimental results verify that the proposed control system is effective at controlling the tip motion of the flexible cartesian robot.