Gain adaptive direct strain feedback control of flexible robot arms

Although DSFB control with constant feedback gain always guarantees closed loop stability, the control performance may not be so satisfactory due to, for instance, robot arm´s tip load variations. In this paper, the authors present a simple gain adaptive method to overcome this difficulty. The closed loop stability of gain adaptive DSFB control is proved theoretically, and the effectiveness of the proposed control method is demonstrated by a series of experiments.<>