PDS cooperative control of two one-link flexible arms considering bending and torsional deformation

This paper describes cooperative control of two one-link flexible arms considering the bending and the torsional deformation on the basis of the distributed parameter system. The control purpose is to accomplish the desired grasping force for a common rigid object and to suppress the coupled bending and torsional vibrations. We construct PDS cooperative control law based on Lyapunov method, which is a kind of direct sensor feedback control. And also we prove the asymptotic stability of the closed-loop system. The PDS cooperative controller consists of the PD feedback of the motor angle and a strain feedback of the flexible arm. Some experiments are performed to show the effectiveness of the proposed controller.