A new design methodology for passivity-based control of single- link flexible manipulators

This work presents a new methodology for the design of passivity-based controls as applied to single-link flexible arms. The objective is the end-point position control with effective vibration suppression. The control scheme consists of two nested control loops (named inner and outer loop) and a linear strain feedback to decouple the motor and the link dynamics. The controller design is based on the passivity relationship existing between the...