The end-point control of flexible manipulator using the accelerometer

Instead of the strain signal which is generally used in the beam vibration control, the acceleration signal is used as the feedback signal for the end-point control of a flexible manipulator. The reason is that the strain gage is impossible to be used for feedback signal if the strain gage is deformed permantly under overload. On the contrary, the accelerometer is a simple and reliable sensor in the actual control enviorment. However, the ene-point acceleration feedback system has a limited control performance because of its nonminimum phase property. Moreover more impulse signal penetrate into the controller through the accelerometer signal line. In this experiment the acceleration feedback could get the similar control performance with the strain gage feedback uaint Butter-Worth filter which can not only remove the external noise but also move the system pole to stable regin.