Approximate inverse dynamics and passive feedback for flexible manipulators with large payloads

given by (6) can successfully shorten the settling time of h e tracking control at different operation speeds. In our experimental setup the settling time is in the range of 0.50 N 0.65 s for the conveyor belt running between 9.43 N 26.60 c d s . As we have seen, this is a great improvement in the tracking control compared with that where no special care is taken to compensate for the feedback signal when the sensor is operating in the saturated region. Again, the aidvantage of the predictive method becomes more evident as the speed of the conveyor becomes faster.