• Transactions of the Korean Society of Mechanical Engineers
• /
• v.14 no.5
• /
• pp.1112-1118
• /
• 1990

The end tip position control of a flexible robot arm has been presented by utilizing the feedback signal from the rate-gyro mounted at the end tip. Kalmann filter and the state feedback gains were determined by optimal sense based upon the parameter from the geometrical and electrical data of the flexible arm system. The simulation and experiment were performed and it has been proved that implementation of the rate-gyro drastically improves the performance.