Feedback Displacement Control of Flexible Robot Arm : Comparison Between the Controls Based on the Tip Information and Base Information Feedbacks

Abstract

A theoretical study is presented for the closed-loop displacement control of one-link flexible robot arms with a tip mass. The arm is driven by a DC servomotor located at the vase of the arm. Both rotational and translational controls of the tip displacement are considered. The \governing equation of the arm is solved by applying the method of the Laplace transform with respect to time and the inversion integral is calculated by the numerical inversion method. The displacement control using as the tip information is compared with the control based on the base information feedback. It is found that the control based on the tip information feedback is more effective than the other type of control in sifting the end-point of the arm rapidly to the position commanded/ This holds true both for the rotational and the translational controls of the arm.