Workspace Tracking Control of Two-Flexible-Link Manipulator Using Distributed Control Strategy

Figure 7

Desired joint space trajectories: (a)-(b) position trajectories of rigid coordinates, (c)-(d) velocity trajectories of rigid coordinates, (e)-(f) acceleration trajectories of rigid coordinates, and (g)-(h) position trajectories of flexible coordinates.

(a)

(b)

(c)

(d)

(e)

(f)

(g)

(h)