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Abstract
In this paper, first, the equation of motion of a horizontal two-link flexible robot arm is derived. The flexible robot arm consists of first rigid link, second flexible link and a control system, and the restriction force is applied to the end of the flexible robot arm. Then, the design method of the control system with PIS control (proportional plus integral control of the strain of the flexible link) is showed, and the experimental results are demonstrated. From the experimental results, it is seen that the control performance of the present position and force control system by use of PIS control is excellent. Furthermore, the dynamic numerical simulation results of the system are demonstrated.
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