Abstract
In most studies on flexible robot arm, the controller is designed in joint space, besides the task for robot arm is described in reference coordinate frame. In this paper, basic research of end point position control for two links flexible robot arm is dealt with. The nonlinearity of the arm is canceled by using a nonlinear compensator designed by a dissolve motion acceleration control (DMAC). The linearlized model is controlled by a PID controller. The robustness of the obtained controller are verified by the simulation and the control experiment.
