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

Figure 2

Transmissibility functions in magnitude (a, c, e) and (b, d, f) for the two-body LES in Figure 1(b) with and . Three base damping ratios (dashed lines), (dashed dot), and (solid) were tested for each of the three coupling cases = 10 (a, b), 3 (c, d), and 1 (e, f).

(a)

(b)

(c)

(d)

(e)

(f)