Control of a Two-link (Rigid-Flexible) Manipulator

摘要

This paper investigates the motion control of two link (rigid-flexible) manipulator through analysis, computer simulation. An explicit nonlinear dynamic model is developed using assumed mode method. The balance of moments and shear forces are represented by using the boundary conditions. The dynamic model is linearized around the operating point of the system. The linear feedback plus model based feed-forward control is developed as well, based on three different measurements. The joint angles and the tip deflection are used in this study. The control inputs are generated using linear dynamic model. The simulation results of proposed control are compared with those of PD control, in order to show the efficiency of the developed model and the proposed controller. As a future work; the proposed controller will be tested using two link (rigid-flexible) test-rig.