Nonlinear control of a single-link flexible joint manipulator using differential flatness

  title={Nonlinear control of a single-link flexible joint manipulator using differential flatness},
  author={Markus E. Didam and John T. Agee and Adisa A. Jimoh and N. Tlale},
  journal={2012 5th Robotics and Mechatronics Conference of South Africa},
In this paper, a nonlinear feedback controller is proposed for a single link flexible joint manipulator based on the concept of differential flatness. The control design is approached from the perspective of using input state feedback linearization via the flatness property of the robot. It is shown that the nonlinear dynamics of the manipulator satisfies the controllability and involutivity conditions required for the selection of a flat output. With the flat output, trajectories of motion are… CONTINUE READING

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