Control of Double Link Flexible Robotic Manipulator System

摘要

Flexible manipulator is widely used in the implementation of industial robotic due to its advantages such as low weight, low power consumption, higher load capacity, high-speed operation, small actuators and low production costs. However, the position and speed of flexible manipulator system are very difficult to control due to the tip vibration that result in degradation of performance. Modelling and control of a double-link flexible robot manipulator are presented in this study. Controlling the movement of a double-link manipulator, on the other hand, has proven to be a challenging task, especially when a flexible framework is used. Moreover, most double-link flexible manipulator system models are not developed based on real hardware. Hence, this project aims to develop a Solidworks design for double link flexible robotics manipulator (DLFRM) as well as a real hardware prototype. The control position performance of DLFRM was analyzed, and the controllers were tested on a hardware prototype. This project started with a simulation of both controllers, which are PID and FLC. The simulation was designed in Solidworks and exported to Simulink and then converted as Simscape. Then, the hardware for each controller was validated using the control parameter in the simulation. The joints for the robot manipulator were designed in Solidwork and built using 3D printing.