Comparison studies of point-to-point near-minimum-time control of planar flexible manipulators with multiple links

Abstract

The objective of this paper is to compare the dynamic behaviour of a near-minimum-time (NMT) controller for planar flexible manipulators by three control schemes; the rigid manipulator control (RMC), the passive flexible manipulator control (PFMC), and the active flexible manipulator control (AFMC). The Lagrange-Euler equation is employed to formulate workable state variable models for both rigid and flexible manipulators. The link flexibility is incorporated by using the method of assumed mode. Simulation results indicate that effects of small link flexibility could not be ignored. Higher torque inputs produce larger tip displacements, and reduce execution times. Simulation results indicate also that tip deflections could be suppressed in highly flexible links with small applied modal torques. However, applied modal torques would prolong the execution time, if they are too small.