A Computed Torque/Time Delay Approach to the End-Point Control of a One-Link Flexible Manipulator

摘要

The problem of modelling end point control of a one-linkflexible manipulator has been considered. The assumed mode methodas well as the Lagrangian dynamics are used to develop the dynamicmodel. It has been shown that a conventional computed torquecontroller cannot deal with the end point vibrations of flexiblelinks. The non-minimum phase characteristic of the end pointcontrol of a one link flexible manipulator has been demonstratedby choosing the absolute angle of a point along the link as thecontrolled output. In order to introduce active damping intothe system, a computed torque/delayed deflection approach hasbeen proposed. In this approach, the actuator torque is computedfrom the joint angle and a delayed deflection of a point alongthe link. The choice of the delay time depends on the point atwhich the deflection is measured. Simulation results are presentedto demonstrate the effectiveness of the proposed controller.