In recent years, there has been much interest in using light-weight, higher performance arms for both commercial and space-based application. The interest leads to the research of flexible manipulator. This paper is concerned with dynamic control to surppress vibrtions in precise positioning with consideration of the arm's flexibility. A single axis robot consisting of a flexible arm driven by a D.C servo motor and have in manipulating payloads as a rate gyro is considered. We first derive a partial differential equation and a set of boundary conditions governing the elastic vibration of complete dynamics of the robot. A finite-dimensional model is also developed from this model using the technique of model expantion.
In this study, we design the controller which is presented for optimal regulation of the flexible arm to active desired angular rotation of the link while simultaneusly suppressing vibration. A rate gyro is used as a vibration sensor which is located a end effector. A predict type Kalmman-Filter is also designed to estimate all states.
A set of experiment and simulation has been constructed to demonstrate control schemes for a single link flexible arm. We compare the simulation results with experimental result and can find good agreement.