Feedback Control of a Flexible Manipulator with a Parallel Drive Mechanism

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Abstract
A flexible manipulator having a parallel drive mechanism is treated. Only the forearm of the manipulator is assumed to be flexible, because it is slender and carries a heavy end-ef fector. The elastic vibration of the arm, which is due to its flexibility, and the position of the driving motors should be controlled simultaneously. On the basis of the mathematical model developed in our previous paper, we construct an optimal feedback control system by using the outputs of sev eral sensors. A set of experiments for the point-to-point position control was carried out with a microcomputer, which controls the whole servo system and plays the role of dynamic compensator. Several satisfactory experimental results are shown.

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