MODELING AND FEEDBACK-CONTROL OF A FLEXIBLE ARM OF A ROBOT FOR PRESCRIBED FREQUENCY-DOMAIN TOLERANCES

In this article we solve the problem of achieving quantitative specifi cations for the tip of a rotating flexible beam with uncertainty in so me of its physical and-geometric parameters. The frequency-domain desi gn method used here is also helpful in clarifying some limitations on the feedback loop capabilities due to the distributed nature of the pr oblem. Finally, time domain simulations, while proving the validity of the design method suggested in this work, pointed to some interesting mathematical problems concerning the influence of some of the paramet ers on the plant dynamics with possible physical consequences on the d esign of flexible beams.