Abstract
Abstract The paper considers the control of a class of robots whose arm flexibility, due to light construction and the demand for fast robot motion, is not negligible. The mathematical model of dynamics of one translational joint and one flexible arm manipulator with the payload on its end is developed. On the basis of the mathematical model developed, an optimal linear quadratic state regulator is designed. In the paper the influence of additional control action, using the states of vibration modes of the manipulator arm, is analysed.
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