Control of a flexible robotic arm using PD, feedforward, and linear stabilizer

Focuses on the implementation of a vibration suppression controller for the maneuver of a single link flexible robotic arm. The joint angle trajectory tracking is accomplished by a proportional and derivative (PD) and feedforward controller. Based on the pole placement technique, a linear stabilizer is designed for elastic model stabilization. The stabilizer is switched on when the trajectory reaches the vicinity of the terminal stage and the effect of switching time on arm vibration is investigated. An optimal deflection sensor is used for on-line measurement of elastic deflection and also used for prediction of static deflection of the arm at the target position.<>