Abstract
In this paper, a trajectory tracking control problem of a planar 2 d. o. f. flexible manipulator is discussed. First, the equations of kinematic relationship and equations of motion are derived, using spring/mass model. From these equations, a relationship between tip trajectory and joint input torque is derived. To realize the desired trajectory, the fourth derivative of the desired trajectory with respect to time has to exist. Then a trajectory tracking controller is designed for real-time control of the flexible manipulator neglecting some small terms. A simulation result shows the effectiveness of this method.
