Analytical modelling and nonlinear strain feedback control of a flexible robot ARM

Abstract

In this paper, a full nonlinear analytical model of a single link flexible manipulator consisting of a rotary joint and a flexible link, handling uniform payload at the tip considering its inertia is developed based on extended Hamilton-assumed mode method. Due to model nonlinearities, a nonlinear control strategy directly based on the strain gauges measurements attached in some locations of the link is investigated. Effectiveness of the controller in vibration suppressing and fast motion duration tracking capability is shown through simulation.