Mathematical Modelling, Stability Analysis and Control of Flexible Double Link Robotic Manipulator: A Simulation Approach

摘要

In present work the various aspects on mathematical modelling, stability and control strategies of flexible double link manipulator have been investigated. A mathematical model of flexible double link manipulator has been developed using lagrangian method. This mathematical model has been characterized using classical and modern control theories. Their time domain and frequency domain analysis has been carried out and our study show that the mathematical model of flexible manipulator is highly unstable. Different control strategies such as PID, LQR and State feedback controller have been implemented for controlling the tip position of flexible double link manipulator using MATLAB programming. State feedback controller uses pole placement approach, while the linear quadratic regulator is obtained by resolving the Riccati equation. The best control strategy for controlling the tip position of flexible double link manipulator is obtained by implementation of LQR controller. Finally, this study proven that LQR control method is the best method as compare to PID and State feedback controller for controlling the flexible link robotic manipulator.