The control of flexible joint manipulator

In this thesis, rigid link and flexible joint that is provided by two spring elements, system was studied in simulation environment and real time environment. Flexible joint manipulator system's nonlinear dynamic equations were obtained and were linearized. The obtained system model and the data acquisition from real time system were used in estimation of uncertain system parameters. During the implementation of control methods to eliminate the vibration of link's endpoint, PID control, pole placement method and linear quadraic regulator control methods were performed in simulation environment. The coefficients of state feedback acquired from simulations were used in control of real time system and the results were compared. The unmeasurable states of the flexible joint manipulator system like angular speeds of link oscillation and rotary table, were estimated by using Luenberger state observer and Kalman Filter. Finally, in order to apply the mentioned control methods, observed system states were used and realized on the real time system.