Answers are grounded in this paper and cite their sources.
A simple controller is presented for the regulation problem of robot arms with flexible links under gravity. It consists of a joint PD feedback plus a constant feedforward. Global asymptotic stability of the reference equilibrium state is shown under a structural assumption about link elasticity and a mild condition on the proportional gain. The result holds also in the absence of internal damping of the flexible arm. A numerical case study is presented.>
No takes yet. Share an insight, caveat, or question.
Luca et al. (1993) studied this question.
Synapse has enriched 10 related papers. Consider them for comparative context: