Abstract
There exist an infinite number of right-half plane zeros in the transfer function relating the joint torque input to the tip contact force output for a constrained single-link flexible arm. Since the non-minimum phase nature is the cause of instability or stability but caused the smaller control bandwidth. In order to overcome the inherent limitations caused by the non-minimum phase nature, a new input induced by the measurement of joint angular acceleration and a output generated using the measurements of contact force and root shear force are defined. A necessary and sufficient condition is derived such that all poles and zeros of the new transfer function lie on the imaginary axis. The passive integral control is designed to accomplish the regulation of the contact force. The excellent performance of the passive integral controller is verified through numerical simulations.
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