The application of a optimal controller for the flexible joint robot

Abstract

This paper describes the operation of a single Degree of Freedom (DOF) flexible robotic arm by the optimal controller. The derived model is based on Euler- Lagrange approach, while the first and second-order (super twisting) Sliding Mode Control (SMC) is proposed as a nonlinear control strategy. Exploration of a flexible robotic arm with using state-of-the-art controllers is essential for practical applications. This is even more refreshing when these arms have joints that work independently of each other to create a smooth connection between the joints, but it still ensures the natural properties like a real human arm. This system has many similarities with the flexible link system of the MIMO model in its operational state analysis. Control laws must be followed by logical rules in a coherent whole. The next step is to design a controller to fit the structure of the system. The author also compared the use of the above controller with a system without using any controller to determine the effectiveness of using the above controller.