Use of a Simple Mechanical Analogy to Analytically Tune the PD Controller of a Flexible Manipulator System

Figure 10

Measured (solid lines) responses of the manipulator system for and their predictions (dashed) using the positive-definite two-body LES (): (a) the hub displacement and (b) the tip displacement . The symbols, “∇” and “ο,” are indicated at the uncoupled appendage and base natural frequencies, and , respectively.

(a)

(b)