Robust control of a very lightweight one degree-of freedom flexible arm with changes in the tip mass and inertia

This work presents a new control scheme for a one degree-of-freedom flexible robot which takes into account the inertia of the payload in addition to the effects of its mass. In order to achieve this control, a scheme with two nested loops is proposed. Inner loop is used to adjust motor dynamics, and outer loop cancels vibrations at the tip. Feedback signals of this scheme are the torques at the base and at the tip. Along the article it is demonstrated this control system to be robust to variations of the mass or the inertia of the payload. Finally, theoretical results are illustrated with a set of simulations showing the system response that it is obtained