PID and state feedback control of a single-link flexible joint robot manipulator

Akyüz İ. H. , Ertunç H. M. , Bingül Z.

2011 IEEE International Conference on Mechatronics, ICM 2011, İstanbul, Turkey, 13 - 15 April 2011, pp.409-414 identifier

  • Publication Type: Conference Paper / Full Text
  • Volume:
  • Doi Number: 10.1109/icmech.2011.5971320
  • City: İstanbul
  • Country: Turkey
  • Page Numbers: pp.409-414


In this work, a single - link flexible joint robot manipulator is constructed and controlled using various control techniques. The position and trajectory control is performed by PH) and State Feedback control methods for this system. The purpose of this study is to keep the rotate angle of the link at desired position and to eliminate the oscillation angle of end effectors. The experimental results were compared for each method. The control blocks required for the system are performed on Matlab - SIMULINK and applied dSpace 1103 control board. The experimental results of the system based on Pro and State Feedback controller are quite satisfactory. © 2011 IEEE.