Controller design for enhancement position accuracy of a rigid-flexible links robot by using particle warm optimization algorithm

Abstract

This paper presents the results of controller designing for enhancement
position accuracy of two-link flexible robot which motions on planar plane.
The first link is rigid with rotational joint and the second link is flexible and
slides in translational joint which fixed mounted the end point of link 1. Finite
element method (FEM) and Lagrange equations are used dynamic modeling
the system. The length of work part of flexible link 2 is continuously changed
and drags on changing of conditions boundary. These factors are many
challengers in modeling, solving nonlinear differential equations (DE) of
motion and designing controller. Elastic displacements at the end-effector
directly effect on position accuracy of robot. The extended PID control is
designed to reduce effecting of these displacement. The parameters of PID
control are optimized by using Particle Swarm Optimization (PSO) algorithm.
The solving technique with changing conditions boundary also clealy present.