Design of an industrial flexible robot controller using MATLAB

Atef A. Ata, Ali R. Shahin, Shihab S. Asfour

Research output: Contribution to journalArticlepeer-review

1 Scopus citations


The main objective of this work is to investigate a causal inverse dynamics of a flexible single hub-arm system with a variable tip mass and to control the end point motion. The joint trajectory was assumed and the end point trajectory was obtained directly through the solution of the inverse dynamic problem. Although the flexible link is nonminimum phase in nature, the use of feedforward torque with end point acceleration feedback gives very good performance specially for variable tip mass. A robust controller was designed for tracking the desired trajectory based on classical control methodologies.

Original languageEnglish (US)
Pages (from-to)131-134
Number of pages4
JournalComputers and Industrial Engineering
Issue number1-2
StatePublished - Oct 1996

ASJC Scopus subject areas

  • Computer Science(all)
  • Engineering(all)


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