Single-Link Rotary Flexible Joint Control Using S-Curve Motion Profile

Abstract

This paper proposes a control method based on an S-curve motion profile for a single-link rotary flexible joint system. The motion profile is designed with constant jerk to position the rotary flexible joint without oscillations. The profile is implemented within a closed-loop system that utilizes a proportional-derivative(PD) controller. To address the steady-state error typically associated with PD controllers and to ensure compatibility with the motion profile, an error-dependent integral action is implemented. The parameters of the motion profile are determined through system identification. The effectiveness of the proposed controller is validated through experimental studies. © 2024 IEEE.