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Authors: E. D. Markus 1 ; J. T. Agee 1 ; A. A. Jimoh 1 ; N. Tlale 2 and B. Zafer 3

Affiliations: 1 Tshwane University of Technology, South Africa ; 2 CSIR, South Africa ; 3 Kocaeli University, Turkey

Keyword(s): Flexible Joint Manipulator, Differential Flatness, Position Control.

Related Ontology Subjects/Areas/Topics: Application Domains ; Dynamical Systems Models and Methods ; Formal Methods ; Robotics, Automation and Mechatronics ; Simulation and Modeling

Abstract: The demand for high speed robotic manipulators with little or no vibrations has been a challenging research problem. In this paper, a position control for a 2 DOF single link flexible manipulator with joint elasticity is studied. It is shown that using the flatness control approach, faster response and less oscillations and overshoots can be achieved. The flat output of the linearized system is determined as the tip of the manipulator end effector. This output and a finite order of its derivatives is defined in terms of the input and states variables of the manipulator. Using the parameters of the output in flat space, a trajectory is planned and executed to test the effectiveness of the designed control.

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Paper citation in several formats:
D. Markus, E.; T. Agee, J.; A. Jimoh, A.; Tlale, N. and Zafer, B. (2012). Flatness based Control of a 2 DOF Single Link Flexible Joint Manipulator. In Proceedings of the 2nd International Conference on Simulation and Modeling Methodologies, Technologies and Applications - SIMULTECH; ISBN 978-989-8565-20-4; ISSN 2184-2841, SciTePress, pages 437-442. DOI: 10.5220/0004061104370442

@conference{simultech12,
author={E. {D. Markus}. and J. {T. Agee}. and A. {A. Jimoh}. and N. Tlale. and B. Zafer.},
title={Flatness based Control of a 2 DOF Single Link Flexible Joint Manipulator},
booktitle={Proceedings of the 2nd International Conference on Simulation and Modeling Methodologies, Technologies and Applications - SIMULTECH},
year={2012},
pages={437-442},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004061104370442},
isbn={978-989-8565-20-4},
issn={2184-2841},
}

TY - CONF

JO - Proceedings of the 2nd International Conference on Simulation and Modeling Methodologies, Technologies and Applications - SIMULTECH
TI - Flatness based Control of a 2 DOF Single Link Flexible Joint Manipulator
SN - 978-989-8565-20-4
IS - 2184-2841
AU - D. Markus, E.
AU - T. Agee, J.
AU - A. Jimoh, A.
AU - Tlale, N.
AU - Zafer, B.
PY - 2012
SP - 437
EP - 442
DO - 10.5220/0004061104370442
PB - SciTePress

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