Modeling and fuzzy control of flexible manipulator link with moving end effector

Abstract In this paper, a flexible robotic arm system was designed and constructed based on the aspect ratio of arms. The mathematical modeling derived using finite element method. addition, necessary information about dynamic behavior suggested collected used to design controllers knowledge fuzzy logic theory. purpose building perform different movements while ensure accuracy model. This achieved by comparing experimental responses with theoretical ones where both systems were controlled through control strategies basis logics. resulted is 2-input, 1-output system. Different in addition non-conventional method (Fuzzy Control). includes traditional-fuzzy PID as well PD controllers. results showed that error between practical does not exceed 16% Fuzzy Control 11% PD-Fuzzy 9% PID-Fuzzy mismatch due nonlinearities friction effects mechanical parts have be considered. overshoot percentage also 7% first second methods 8% third All outcomes are scientifically discussed analyzed obtain best approach high performance