抄録
Trajectory control of 2-link planar flexible manipulator using subspace control and computed torque method is discussed. Subspace control reduces the dimension of the system by separating the state space into the control subspace and the target subspace. The tip position of the flexible manipulator can be controlled only in the control subspace. The most suitable target trajectory in the control subspace which satisfies an arbitrary continuous path of the tip is considered. Also, the availability of the method is confirmed by numerical simulation.
