Comparative study on the acceleration feedback and the strain feedback of a flexible manipulator

Based on the Euler-Bernoulli beam theory, the dynamic equations of a flexible manipulator are simplified to a series of linear equations. Then the transfer functions of the PID control with the tip acceleration feedback and the beam strain feedback are obtained respectively. This article describes laboratory results for the flexible manipulator in which two separate control strategies are compared and contrasted. The experimental results prove that the tip acceleration or the beam strain as a feedback signal added to the PID controller to control the vibration of the flexible manipulator is effective and feasible