Abstract
This work presents an experimental study of a robust control scheme for flexible link robotic manipulators, which is based on considering the flexible mechanical structure as a system with slow (rigid) and fast (flexible) modes that can be controlled separately. Two experimental approaches are considered. In a first test an LQR optimal design strategy is used. Then a second design based on a sliding-mode scheme is adopted. Experimental results show that this composite approach achieves good closed loop tracking properties for both design philosophies, which compare favorably with conventional rigid robot control schemes.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
