−In the paper you will implement a set point control system for the single-link manipulator with flexible joint using a multiloop controller based on feedback linearization (inner loop) and linear statefeedback control (outer loop). Then, you will modify the multiloop controller to solve a trajectory tracking problem. The simulations demonstrate that the multi-loop control law it is a viable me...

This article presents an application of the multivariable Model-based Predictive Controller associated to a Kalman filter to damp the mechanical vibrations of a flexible one-link manipulator using state variables feedback. The flexible manipulator, seen as a single input multiple outputs system is modelled using the Lagrange equations. The state space equations are expressed in order to simplif...

A new robust controller design method is proposed to obtain a less conservative feedback controller and it is applied to a single-link flexible manipulator. The objective is to maximize the control performance guaranteeing the robust stability when regulating the tip position of the flexible manipulator in the presence of a large time-varying payload and parameter uncertainties such as stiffnes...

This paper proposes a fuzzy TSK controller to control a rotary flexible joint manipulator. The flexibility of joint is performed by means of a solenoid nonlinear spring, which is connected between actuator output and joint input in a bilateral connection form to transfer the produced torque; also the smooth model of frictions is used for modeling the dynamics of flexible manipulator. The effect...

Model based control schemes use the inverse dynamics of the robot arm to produce the main torque component necessary for trajectory tracking. For model-based controller one is required to know the model parameters accurately. This is a very difficult task especially if the manipulator is flexible. So a reduced model based controller has been developed, which requires only the information of spa...

In this paper, we tackle the problem of nonlinear adaptive hybrid control of constrained robots with flexible links. According t o the physical properties of a flexible manipulator, a two time-scale approach, namely, singular perturbation a p proach, is further utilized for thorough analysis and general controller design. It is shown tha t asymptotic motional tracking can be effectively achieve...

This study presents a synthesis scheme on a target history for the simultaneous control of position and vibration of a space robotic manipulator with a flexible arm. As an essential problem in the manipulator with a flexible arm, its vibration is easily induced by self-motion and external disturbance. Therefore, in this study, the authors develop the long, lightweight and forceful manipulator f...