抄録
This paper is concerned with some control experiments of one-link flexible manipulator by using a hardware experimental system. A torque servo actuator has been developped with an accurate torque sensor and a torque servo controller. The torque servo actuator (TSA) is insalled on the articular joint to achieve a fine control. To realize a stable control of the structurally flrxible manipulators, two control methods, i. e., PD-control and pseudo resolved acceleration control (pRAC), are examined through the experimental system. The effectiveness of TSA and pRAC are successfully demonstrated.
