Distributed Parameter Model Based Trajectory Tracking Control of a Single-Link Flexible Robot Manipulator

摘要

In this paper we present a new approach for joint trajectory tracking of a single-link flexible robot manipulator. Firstly a distributed parameter dynamic model is derived using extended Hamilton Principle. Based on this model a new moment feedback trajectory tracking control scheme is designed for a single-link flexible robot manipulator having a payload at its free end. The control scheme is proved to be stable using Lyapunov approach and the tracking error and vibrations of link are bounded. The effectiveness of the control scheme is demonstrated using simulation studies.