Abstract
This paper deals with motion control of 1-link flexible arm, using computed torque method and H_∞ control. We considered a method to apply computed torque method for a 1-link flexible arm, and we proposed a desired trajectory considering the first natural mode of the link. Also, we considered a compensator using H_∞ control. According to the experimental study, it is confirmed that the flexible arm follows the desired trajectory smoothly, and spill over phenomenon does not occur.
