Verification of a closed-loop shaped-input controller for a five-bar-linkage manipulator

A closed-loop control strategy is verified experimentally for a five-bar-linkage manipulator with one flexible link. The prototype, a highly nonlinear system, is a prominent candidate of a class of manipulators with one flexible link. The controller combines a closed-loop shaped-input filter with conventional control techniques. Experimental results show that this technique is effective and robust enough to reduce vibrations, even for the nonlinear system. The implementation methodology and the experimental results are discussed with future research issues