525 A Study for CP Control of 2-Link Planar Flexible Manipulator Using Subspace Control

Abstract

CP control of a two-link planar flexible manipulator is studied. The technique to derive the target trajectory of the state variables and the computed torque wherein the tip position of the manipulator follows an arbitrary continuous path accurately is proposed. Also, the availability of this technique is confirmed by numerical simulation. The tip position follows desired trajectory accurately in both cases of the linear and circular desired trajectory.