|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 141–150, 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||