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

Table 1

System parameters.

Parameter	Value
Hub inertia (𝐽ℎ𝑖)	0.1 kg·m^2
Link length (𝐿𝑖)	0.5 m
Link linear density (𝜌)	1 kg/m
Link rigidity (𝐸𝐼𝑖)	10 N·m^2
Link mass (𝑚𝑖)	0.5 kg
Payload mass (𝑚𝑝)	0.1 kg
Payload inertia (𝐽𝑝)	0.0005 kg·m^2