MODELING AND CONTROL CHARACTERISTICS FOR A 2-DEGREES-OF-FREEDOM COUPLING SYSTEM OF FLEXIBLE ROBOTIC ARMS

The dynamic characteristics of flexible robotic arms with two-degrees-of-freedom are modeled with consideration of the coupling between the first and the second arms under the assumption that each arm vibrates only due to the bending moments. In order to suppress vibration in positioning control such basic characteristicss of the flexible robotic arms must be employed for the decoupling control. A decoupling control method is proposed by the feedback control method to compensate for the coupling effects between the flexible robotic arms. Experiments are then demonstrated to show the effectiveness of the proposed method. Finally, a method of collision control is also shown as one of applications.