On the Design of a Nominal Motion Regime of an Arm with Two or One Flexible Links

Abstract A method for the synthesis of a nominal motion regime for a flexible planar manipulator with one or two links is proposed. This regime is not far from time-optimal. Our experimental robot is planar two-link arm actuated by two drives. We can study separately each link. The control law for drive torques consists of two parts: the commanded nominal feedforward torque and the linear angular position and velocity feedback. In the experiments, the designed control algorithm has been successfully implemented.

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