An inner/outer loop controller for rigid-flexible manipulators

F. Khorrami, S. Zheng

Research output: Contribution to journalArticlepeer-review


In this paper, vibration control of flexible-link manipulators is considered. A nonlinear partial differential equation describing the dynamics of a two-link planar manipulator with a flexible forearm is derived. Thereafter, utilizing the eigenfunctions corresponding to the boundary value problem at hand, a finite-dimensional approximation of the model is given. The controller design strategy is based upon an inner-loop controller which corresponds to the rigid body motion of the manipulator taking into consideration the vibrations of the manipulator and an outerloop controller for further vibration damping and robustness enhancement of the closed-loop dynamics to parameter variations in the system. The measurement used in the outer-loop controller is obtained through an accelerometer mounted on the flexible forearm which can be easily attained in an experimental setup. The control methodology advocated in this paper are applicable to the multi-link flexible manipulators.

Original languageEnglish (US)
Pages (from-to)580-587
Number of pages8
JournalJournal of Dynamic Systems, Measurement and Control, Transactions of the ASME
Issue number4
StatePublished - Dec 1992

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Information Systems
  • Instrumentation
  • Mechanical Engineering
  • Computer Science Applications


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