End-Effector Tracking Control for Structurally Flexible Manipulators

A simple and effective feedback control strategy is presented for end-effector tracking for structurally flexible manipulators. The approach employs an augmented dynamical description in which derivatives of the control inputs are included in the state. This ensures smooth control inputs to the mainpulator joints. The feedback law is derived by considering a series of steady-state regulators for the manipulator at intermediate (nominally rigid and stationary) configurations along the desired trajectory. The performance of the control method is demonstrated using, as an example, a planar two-link manipulator system.