AbstractIn this article experimental results are presented for system identification and control of a single‐link flexible manipulator carrying an unknown, varying payload. The control objective is to maintain endpoint position accuracy in the presence of flexure effects after rapid movement due to a rigid body slew‐angle commanded position. Various time‐domain parameter estimation techniques are used to identify ARMA model representations to be employed in controller tuning schemes for vibration compensation. Only endpoint acceleration measurements and motor shaft angle measurements are utilized in relatively simple PID control schemes, which are tuned as dictated by a varying, unknown pa
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