Modeling and Tip Position Control of a Flexible Link Robot: Experimental Results Modelación y Control de Posición del Extremo de un Robot de Eslabón Flexible: Resultados Experimentales

This work describes the modeling and control of an experimental platform associated to a single link flexible robot, whose motion is restricted to an horizontal plane, thus neglecting the gravity effects. The modeling problem is addressed using the so-called Euler-Bernoulli beam equation. The design, construction and integration of an experimental set-up developed for this work is also presented. Two main