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

Table 1

Identified lumped elements of the mechanical manipulator.

Base mass, (kg·m^2)	Mass ratio,	Appendage spring, (N·m/rad)	Appendage natural frequency, (Hz)	Appendage damping ratio,
	6.86	9.744	9.7	0.01