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The control objective is to maintain endpoint position accuracy in the presence of flexure effects after rapid movement due to a rigid body slew\u2010angle commanded position. Various time\u2010domain 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 payload.<\/jats:p>","DOI":"10.1002\/rob.4620060304","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T08:55:31Z","timestamp":1183712131000},"page":"233-254","source":"Crossref","is-referenced-by-count":28,"title":["On controller tuning for a flexible\u2010link manipulator with varying payload"],"prefix":"10.1002","volume":"6","author":[{"given":"Stephen","family":"Yurkovich","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Fernando E.","family":"Pacheco","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"volume-title":"On the modeling of flexible robot arms","year":"1988","author":"Tarn T. 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