John T. Agee

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This paper presents an intelligent method of tuning a flat controller for trajectory tracking of a single link flexible manipulator. The tip position of the manipulator was determined as the flat output. Using the flat output, a feedback control law is designed to stabilize the tip of the end effector and track the reference trajectories. The gains obtained(More)
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(More)
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