Recognition of Electrical Control System of Flexible Manipulator Based on Transfer Function Estimation Method

Abstract This article proposes a resonance suppression method for flexible load servo drive system based on manipulator's pose transformation. We establish the robotic arm continuum vibration theory and transfer function estimation method. The controller consists of two parts: compensation control dynamic feedback. active feedback part is strictly positive real. At end thesis, asymptotic stability closed-loop in neighborhood desired position proved through linear operator semigroup LaSalle invariant set principle.