3. Experimental Apparatus and Analysis on Parameter Variation Due to Payload

We developed an experimental apparatus in order to evaluate control systems for oscillatory-base manipulators (OBMs) by hardware experiments. We call the apparatus the “experimental OBM,” which was designed to be in accordance with the problem definition described in Chap. 2, and moreover to accommodate robust control demonstrations by exchanging the attached payloads of different weights. In this chapter, we first introduce the experimental OBM. Then, considering the illustrative model given in Chap. 2, and the experimental OBM, we analyze how the parameters in the dynamical model vary according to the payload variations, the results of which will be utilized in robustness analyses and robust control simulations for the control systems in the sequel.