Modeling and control of a flexible-structure-mounted manipulator

Abstract

This paper studies the modeling and control problem for a robot manipulator consisting of a flexible first link and rigid second link. A nonlinear dynamical model is first derived using a Lagrangian formulation. A Lyapunov-based feedback control law is then introduced to achieve a slew maneuver of the rigid link while suppressing bending vibrations in the flexible link. The asymptotic stability of the closed-loop system is proven using LaSalle's invariance principle. Computer simulation results are included to illustrate the effectiveness of the proposed control design.