|A.Biason, A.Gasparetto, M.Giovagnoni, A.Trevisani, and V.Zanotto|
|Design and implementation of a control system for a flexible planar manipulator|
|Proc. ofthe 7th Biennial ASME Conference Engineering Systems Design and Analysis, Manchester, UK, 19-22 July 2004.|
Abstract: The need for light and flexible robots is greatly increasing in the industrial engineering environment. This paper presents the design and the implementation of a PID controller for a flexible planar manipulator. The controller synthesis and tuning is based on a very accurate dynamic model of the system and is applied to a significant test case, namely a five-bar closed-chain mechanism, driven by two electric motors. The chosen PID controller is described, and the experimental results are presented and discussed.
|Topic: Mechanical Vibrations|
|Activity: Modeling and control of flexible link mechanisms with multiple actuators||