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Joint Stiffness Control of a Two-Link Flexible Arm

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Abstract

In this study, results are presented for the control of impactinduced transient oscillations on a two-link flexible arm by varying thestiffness of an elbow actuator. Case studies were conducted to determinethe effectiveness of the control method as various arm parameters suchas payload, length, elbow angle, and elbow stiffness changed. Theresults of selected cases were then verified experimentally anddemonstrated that the suggested controller was effective, robust, andquite insensitive to parameter variations.

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Authors and Affiliations

  1. School of the Built Environment – Mechanical Engineering, Victoria University of Technology, Footscray Campus, P.O. Box 14428, MCMC, Melbourne, Victoria, 8001, Australia

    J. Pun & S. E. Semercigil

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  1. J. Pun
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  2. S. E. Semercigil
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Pun, J., Semercigil, S.E. Joint Stiffness Control of a Two-Link Flexible Arm. Nonlinear Dynamics 21, 173–192 (2000). https://doi.org/10.1023/A:1008370628999

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