Inverse dynamics based control system for a three-degree-of-freedom flexible arm

This article describes a new control scheme designed for a three-degree-of-freedom flexible arm. This arm has been built with light links, has most of its mass concentrated at the tip, and uses a special mechanical configuration to approximately decouple tip motions in spherical coordinates. This configuration facilitates the dynamic modeling and control of the arm. A compliance matrix can be used to model the oscillations of the structure. A...