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P. Gallina, A. Gasparetto, G. Rosati, and A. Rossi
Design of a PID controller for a flexible five-bar closed-chain planar manipulator
In Proceedings of RoManSy 2002, pages 141150, Udine, Italy, July 2002

Abstract: This paper presents the design of a PID controller for a flexible planar manipulator, based on a very accurate dynamic model of the system. The model is employed to test a classical PID regulator in simulation, in order to be able to control a flexible five-bar closed-chain planar manipulator. The chosen PID controller is described, and the most significant simulation results are presented and discussed.


Topic: Mechanical Vibrations
Activity: Modeling and control of flexible link mechanisms with multiple actuators

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