Comparison of some modeling and control issues for a flexible two link manipulator

• Published in: ISA transactions Vol. 43; no. 4; pp. 509 - 525
• Main Authors: Zhang, X., Xu, W., Nair, S.S.
• Format: Journal Article
• Language: English
• Published: Kidlington Elsevier Ltd 01-10-2004; Elsevier
• Subjects: Algorithms; Applied sciences; Computer science; control theory; systems; Computer Simulation; Control theory. Systems; Distributed parameter system modeling; Elasticity; Exact sciences and technology; Feedback; Flexible robots; Modelling and identification; Models, Theoretical; Motion; Nonlinear control; Robotics - instrumentation; Robotics - methods; Stress, Mechanical; Distributed parameter system modeling; Nonlinear control; Flexible robots; Compliant mechanism; Control robustness; Differential equation; Non linear control; Partial differential equation; Robotics; Flexible manipulators; Uncertain system; Two bar mechanism; Linkage mechanism; Distributed control; Distributed parameter system
• ISSN: 0019-0578; 1879-2022
• DOI: 10.1016/S0019-0578(07)60165-7

The nonlinear dynamics of a flexible two link manipulator presents a challenging modeling and control problem with its lumped actuator dynamics coupled with distributed link dynamics. Issues related to modeling uncertainty and control robustness as well as a good understanding of the experimental issues are essential for advanced modeling and control for such systems. This paper reports some of the advanced modeling, control, and experimental issues for a flexible two link manipulator, including some novel approaches developed by the authors.