2013 Volume 133 Issue 6 Pages 1129-1138
Our group has already studied a position control system for flexible link robot arms. The control law of this method is natural extension from the computed torque method for a rigid link robot arm. It is not limited within operating range which can be regarded as a linear system. In addition, it does not require a switching like an input used in a sliding mode control. However, we need to consider the modeling error because this method uses the model based control. In this paper, we propose a new position control of 2DOF flexible link robot arms based on computed torque method. In addition, we theoretically investigate the stability of the proposed method. Moreover, we propose a simple adaptive identification method in order to decrease the modeling error. The validity of the proposed scheme is illustrated by the theoretical analysis and experimental results.
The transactions of the Institute of Electrical Engineers of Japan.C
The Journal of the Institute of Electrical Engineers of Japan