A composite control strategy for a two-link constrained flexible manipulator

摘要

In this paper, a design procedure for simultaneous position and force control is developed, using singular perturbation method, for a two-link flexible manipulator in contact with an environment in this paper. The dynamic equation of a constrained two-link flexible manipulator is divided into slow subsystem and fast subsystem. The slow subsystem describes the movement and the force exerted on the object, which can be viewed as rigid manipulator, on the other hand the fast subsystem indicates the elastic vibration of the flexible manipulator. We designed an adaptive slow-controller for trajectory and force tracking control. For the fast subsystem, a robust optimal controller is presented to suppress the elastic vibration. Then by combining the slow controller and the fast controller, the composite control is constructed. Some results of numerical simulations are presented to show the effectiveness of this design procedure.