Abstract
In this paper, the control of a 360° flexible robot arm is investigated both from a theoritical and pratical point of view. The controller design is based on the Combined Pole Placement / Sensitivity function Shaping method, and use a discrete time identified plant model. The particularities of the robot arm and its sensor used for the measure of the tip position are taken in account for the design and implementation. Extensive experimental results are given.
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