Design of an Error-Based Adaptive Controller for a Flexible Robot Arm Using Dynamic Pole Motion Approach

Figure 8

The sketch of dynamic pole motion (DPM) of the single link manipulator with a flexible joint system, (18), without a controller. Four poles are moving in the 𝑔(𝑡)=𝜎(𝑡)+𝑗𝜔(𝑡) plane with varying 𝑥₃(𝑡). Note that for certain values of 𝑥₃(𝑡) two dynamic poles move towards the right-hand side of the g-plane causing instability in the system.