Vibration controllability and observability of a single-link flexible manipulator

This work presents a comparative study of two different control strategies for a flexible single-link robotic manipulator. The dynamic model of the flexible manipulator involves modeling the rotational base and the flexible link as rigid bodies using Lagrange´s method. The resulting system has one rigid Degree-Of-Freedom (1 DOF). Two types of regulators are studied and discussed: the State-Feedback controller, and the Linear-Quadratic regulator (LQR). While the latter is obtained by resolving the Riccati equation, the state-feedback consists on poles placement. A simulation is performed on MATLAB (7.5.0)/SIMULINK (V7.0)^®, and later on, experiments were achieved on the flexible beam Quanser module. Experimental results are presented and compared at the end of this paper.