Mathematical modeling and fuzzy PID control for flexible-link robots.

摘要

In this dissertation, the Timoshenko theory is applied to investigate a new mathematical model for the "shoulder-elbow-like" single flexible link robot arm with damping. Detailed analysis and derivation are given to support the mathematical modeling of this particular flexible mechanism. Moreover, by assuming that the pinned-pinned mode shape of a Euler-Bernoulli beam is the same as the more complete Timoshenko beam, an analytic solution of the new model is derived. A new design of a fuzzy-logic-based (PI + D)