Modeling and inverse dynamic based control of a two-link flexible planar manipulator

Abstract

Due to material savings and acceleration time reducing, robot
manipulators are designed to be slender. Therefore, the elasticity of
links couldn’t be neglected in dynamic analysis and control design.
Due to the elastic deformation of links, the motion control problem
becomes complicated and it is difficult to ensure that the end-effector
follows the desired trajectory. This paper presents the modeling of
flexible manipulators by finite element methods and the Lagrangian
formulation. Based on equations of motion, a PD controller and
controller based on inverse dynamics of rigid manipulator for a
flexible manipulator are designed. Numerical simulations are
implemented for a two degree of freedom flexible planar manipulator
to illustrate the proposed algorithm.