In this paper, the dynamic model of a two-link flexible robotic manipulator is established in which the body coordinate references of flexible arms adopt clamped-fiee cases so that the control laws are easily performed. Based on the technique of input-output linearization, the I dynamic model is partially linearized. The joint variables are decoupled from the elastic variables. A new coordinate frames is set up by the observable output. In order to avoid the unstable internal dynamics of the tip tracking control system, a nonlinear state feedback control law with the elastic stabilization for two-link flexible manipulators is designed. A sufficient condition for asymptotic stability of closed-loop system is derived. Simulation results prove the efficiency of this control law.
Absrracf -In this paper, a variable structure controller for the joint trajectory tracking of flexible manipulators is proposed. The nonlinear dynamic model of a two-link rigid-flexible robotic manipulator is established by using the clamped-free coordinate references. Based on the technique of input-output linearization, the dynamic equations of flexible manipulators are partially linearized. In order to avoid an unstable internal dynamics, a joint trajectory tracking control law is designed by using a variable structure control in which the stability of elastic modes is considered. In order to eliminate the chattering caused by the switching, a kind of reaching law similar to the power rate one is designed and the damping factor is introduced in this cantrol law. Lyapnov stability is proven to the joint trajectory and the elastic vibration. Simulation results show the efficiency of this control law.
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