Abstract
In recent years, there have been many studies reported concerning control of robots with flexible arms or flexible joints. However, control problems for robots with both flexible arms and flexible joints are rarely addressed. In this paper, we discuss how to model and control one-link robots with a flexible arm and a flexible joint. We show that
(1) the flexibility in joints can decrease vibration frequency of flexible arm;
(2) a simple PD feedback of motor angle can control satisfatorily the position of robot arm ;
(3) PD + strain rate feedback can yield good responses of the arm's positioning and vibration suppression.
Simulations are conducted to demonstrate these theoretical results.
