Control of Manipulator with 2 Flexible-links via Energy Modification Method

Abstract

The energy modification method has been attracting a lot of attention as a new control design of mechanical systems. However, the relation between modified Hamiltonian and control performance is not so clear. In this paper, the IDA-PBC method is applied to controller of manipulator with 2 flexible-links, where controller parameters are determined by considering modified inertia and stiffness matrix. Some experimental results and modal analysis for modified system show that the proposed controller suppresses deformation of flexible-links.