3747 Motion Control of 2-Link Flexible Arm by Using Subspace Control

Abstract

The motion control of 2-link flexible arm using the subspace control and the computed torque method is discussed. In the subspace control, the state space is separated into the target subspace and the control subspace using modal analysis. The control is necessary only in the control subspace because the target subspace is stable without control input. Then, the computed torque method is applied to the control subspace. The smooth and rapid motion control is confirmed by numerical simulation and experiment.