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This paper describes the use of angular position control approaches for a flexible robot manipulator with disturbance effect in the dynamic system. A nominal characteristic trajectory following (NCTF) controller is used to actively control the vibration of flexible structures. The controller design, which is comprised of a nominal characteristic trajectory (NCT) and PI compensator, is free from exact...
The increased complexity of the dynamics of robots manipulator considering joint elasticity makes conventional model-based control strategies complex and difficult to synthesize. This paper presents investigations into the development of PD type Fuzzy Logic Control (FLC) with non-collocated Proportional Integral Derivative (PID) for trajectory tracking and vibration control of a flexible joint manipulator...
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