This study investigates the development of a Fuzzy Logic Controller (FLC) for tracking sinusoidal wave trajectory and suppressing vibration Two Link Flexible Manipulator (TLFM). The TLFM was modeled using Lagrange's formalism Assumed Mode Method (AMM). A three-part apparatus consisting mathematical model, real-world TLFM, control software designed implemented. FLC applied to both simulated TLFM...

Flexible-link robots comprise an important class of systems that include lightweight arms for assembly, civil infrastructure, bridge/vehicle systems, military applications and largescale space structures. Modelling and vibration control of flexible systems have received a great deal of attention in recent years (Kanoh, Tzafestas, et. al., 1986), (Rigatos, 2009), (Rigatos, 2006), (Aoustin, Flies...

The axially translating flexible link in flexible manipulators with a prismatic joint can be modeled using the Euler-Bernoulli beam equation together with the convective terms. In general, the method of separation of variables cannot be applied to solve this partial differential equation. In this paper, we present a nondimensional form of the Euler-Bernoulli beam equation using the concept of g...

In this paper, the backstepping design scheme is developed for the tip-position trajectory tracking control of single-link flexible robotic manipulator systems. An infinite dimensional dynamic model of a single-link flexible manipulator is derived through the assumed modes method associated with Lagrange approach. For simplicity, a linearized system model would be analyzed and investigated for ...

In this paper, we propose an energy-based nonlinear control for two-link flexible manipulators. Since the two-link flexible manipulator is an underactuated system which provides a challenge to control engineers and researchers. In order to control this kind of system more effectively, many new control theories and methods are explored to design controllers for the flexible manipulators. Among t...

A novel approach to the control of a single joint-single flexible link robot is proposed and experimentally evaluated. The control is completely signal based, and relies on joint trajectory pre-planning plus collocated vibration control of the flexible link through piezoelectric actuation. Trajectory pre-planning is a well known strategy for avoiding link vibrations during maneuvers, however it...

Wayne J. Book George W. Woodruff SchOOl of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332 A manipulator system with a large workspace volume and high payload capa~ity has greater link flexibility than do typical industrial robots and teleoperators. N Imk flexibility is significant, position control of the manipulator's end-effector exhibits nonminimum-phase. noncollo...

Current knowledge systems lack an effective architecture to bridge the well-acknowledged gap between flexibility and rigidity users’ preference of flexible expression and machine’s need for rigorous representation. This paper focuses on finding an adequate set of relationship types (or link types) and map flexible expressions from users to link types in propositional knowledge systems, in which...

The paper describes use of soft computing methods (fuzzy logic and neural network techniques) in the development of a hybrid fuzzy neural control (HFNC) scheme for a multi-link flexible manipulator. A manipulator with multiple flexible links is a multivariable system of considerable complexity due to the inter-link coupling effects that are present in both rigid and flexible motions. Modelling ...

A methodology for the formulation of dynamic equations of motion of a serial flexible-link manipulator using the decoupled natural orthogonal complement (DeNOC) matrices, introduced elsewhere for rigid links, is presented in this paper. First, the Euler Lagrange (EL) equations of motion of the system at hand are written. Then, using the DeNOC matrices associated with the velocity constraints of...