FEEDFORWARD CONTROL OF A SINGLE-LINK FLEXIBLE ROBOT.

The computed torque technique is utilized to control the rotary joint of a single-link flexible robot. The technique is implemented by calculating, for a given tragectory, the nominal torque from the rigid body model of the robot. The technique provides feedforward compensation which introduces an additional zero of the closed-loop system transfer function. Using a PD-feedback compensator in addition to the feedforward one 'almost' pole-zero cancellation of the dominant closed-loop poles of the system is achieved. The paper shows that the proposed technique generates a better transient response and completely eliminates the steady-state error of the joint variable.