A computed torque/time dealy approach to the end-point control of a one-link flexible manipulator (Q676060)

This paper is concerned with modelling and control of a single link, flexible robot arm equipped with a single revolute joint. A Lagrangian description of the robot dynamics is derived, employing a model of the arm deflection based on the assumed modes approach restricted to the first two modes. Collocated and non-collocated computed torque control algorithms are considered. A superiority of the non-collocated control is demonstrated.The main result of this paper consists in designing a non-collocated, computed torque control algorithm fed with a suitably delayed deflection of the arm. The performance of this algorithm has been investigated by computer simulations. This paper should be read with some care, especially pages 174, 175, 177, due to insufficient proof-reading. Also, the following important reference is missing: [\textit{D. Wang} and \textit{M. Vidyasagar}, Int. J. Robotics Res. 10, 540-549 (1991)].