Abstract:
This paper discusses the practical implementation
of a flatness based control for a flexible joint robot arm. Using
differential flatness theory, reference trajectories are generated
for a flexible joint robot and then a tracking controller is
implemented. The vibrations experienced by the robot arm
are sufficiently damped and nonminimum phase behaviour is
eliminated. The control shows fast transcient response as desired
for flexible robots. Experimental results proves the effectiveness
of the flatness based control approach.
