Implementation of a Vertical-Plane Motion Control of an Electrohydraulically-Actuated Single-Flexible-Link Arm

This paper presents an implementation of a nonlinear motion control that was developed for a flexible-single-link arm based on the Equivalent Rigid Link System (ERLS) dynamic model and the inverse dynamics of the arm and the actuator. The arm moves in a vertical plane and is actuated by an electrohydraulic motor. The control scheme is simplified and implemented on a general purpose 16-bit micro-computer. The dynamic behavior of the control system is studied through the computer simulation and the experiment. Furthermore, the superiority of the flexible-body control is also proved through the comparison to the rigid-body control.