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Flatness based Control of a 2 DOF Single Link Flexible Joint Manipulator

Abstract: The demand for high speed robotic manipulators with little or no vibrations has been a challenging research problem. In this paper, a position control for a 2 DOF single link flexible manipulator with joint elasticity is studied. It is shown that using the flatness control approach, faster response and less oscillations and overshoots can be achieved. The flat output of the linearized system is determined as the tip of the manipulator end effector. This output and a finite order of its derivatives is defined in terms of the input and states variables of the manipulator. Using the parameters of the output in flat space, a trajectory is planned and executed to test the effectiveness of the designed control.