Modelling, stability analysis and control offlexible single link robotic manipulator

Abstract

In this paper, a mathematical model of flexible single link robotic manipulator that has a rotational base and translational motion has been developed using lagrangian method. The control strategies like PID, LQR and State feedback controller have been implemented for controlling the tip position of flexible single link robotic manipulators through MATLAB. State feedback controller uses pole placement approach, while the linear quadratic regulator (LQR) is obtained by resolving the Riccati equation. The best control strategy for controlling the tip position of flexible single link robotic manipulator is obtained by implementation of LQR controller. Finally, it is concluded from our study that LQR control method is the best method among PID and State feedback controller to control the flexible link manipulators.