Chapter 11 — Robots with Flexible Elements

Rest-to-rest motion for a flexible link

This 2003 video shows a planar one-link flexible arm executing a desired rest-to-rest motion in a given finite time (90 deg in 2 s). Link deformations vanish completely at the desired final time. The applied control law is the combination of a model-based feedforward command designed for a smooth trajectory assigned to the flat output of the system and of a stabilizing PID feedback action on the joint angle around its associated trajectory. References: 1. A. De Luca, G. Di Giovanni: Rest-to-rest motion of a one-link flexible arm, Proc. IEEE/ASME Int. Conf. Adv. Intell. Mechatron., Como (2001), pp. 923-928; doi: 10.1109/AIM.2001.936793; 2. A. De Luca, V. Caiano, D. Del Vescovo: Experiments on rest-to-rest motion of a flexible arm, in B. Siciliano, P. Dario (Eds), Experimental Robotics VIII, Springer Tract. Adv. Robot. 5, 338-349 (2003); doi: 10.1007/3-540-36268-1_30
Alessandro De Luca
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