Control System Simulation for a Single-Link Flexible Arm

摘要

To control a lightweight manipulator, a validated dynamic model based on the Equivalent Rigid Link System (ERLS), is used to formulate a control algorithm. The required torque to drive the manipulator to a desired angle is calculated. Since the control system includes an electrohydraulic actuator, the required current is also calculated by the inverse dynamics of the hydraulic servo. A computerized simulation is performed with various loading conditions, gain values, and desired angles.