A two-stage control scheme of single-link flexible manipulators

Andres San Millan Rodriguez, Vicente Feliu-Batlle, Alfonso Garcia Cerezo

Research output: Chapter in Book/Report/Conference proceedingPublished conference contribution

10 Citations (Scopus)


A new control scheme composed of two independent stages utilised to achieve precise positioning of single-link flexible manipulators is presented herein. Traditional techniques for the control of single-link flexible manipulators utilise only one actuator and two types of sensor measurement (e.g the angular position of the motor and acceleration or strain measurements) to move the manipulator and in order to damp the residual vibrations produced in the displacement of the manipulator. However, in the proposed control scheme another additionally pair actuator-sensor is utilised to improve the speed and precision of the controlled system. On the one hand a motor and the readings of a rotary encoder are utilised in a first stage to displace the manipulator, using the strain measurements in order to damp the high amplitude and low frequency residual vibrations. On the other hand piezoelectric actuators are utilised in conjunction with displacement measures of the tip of the manipulator in order to damp the low amplitude and high frequency residual vibrations which deteriorate the accuracy of the positioning achieved by the traditional control techniques. Simulation and experimental results are carried out to illustrate these improvements.
Original languageEnglish
Title of host publicationMED 2015 - 23rd Mediterranean Conference on Control & Automation
PublisherIEEE Explore
Number of pages8
ISBN (Electronic)978-1-4799-9936-1
Publication statusPublished - 16 Jul 2015
EventMED 2015 - 23rd Mediterranean Conference on Control & Automation - Hotel Meliá Costa del Sol, Torremolinos, Malaga, Spain
Duration: 16 Jun 201519 Jun 2015


ConferenceMED 2015 - 23rd Mediterranean Conference on Control & Automation
CityTorremolinos, Malaga
Internet address


  • Flexible manipulator
  • Flexible link
  • Smart materials
  • Piezoelectric
  • Robot control


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