We consider the inverse dynamics problem for robot arms with, flezible lids, i.e., the computation of the input torque that allows exact tracking of a trajec tor~y definedfor the manipulator end-e flector. A stable inversion controller is derived numerically, based on the computation of bounded link deformations and, from these, of the? equiredfe edforwardtorque associated with, the desired tip...

Dynamics and control of flexible robot manipulators have received wider attention during the last two decades. In manufacturing and space applications, the use of lightweight structures in robot manipulators is motivated by their capacity for high speed maneuvers, their high payload to arm weight ratio, higher mobility, reduced energy consumption, and lower inertia forces for accurate positioni...

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 bodies, is presented in this paper. First, the Euler Lagrange (EL) equations of motion of the system are written. Then using the equivalence of EL and Newton–Euler (NE) equations, and the DeNOC m...

the problem of observer design for nonlinear systems has got great attention in the recent literature. the nonlinear observer has been a topic of interest in control theory. in this research, a modified robust sliding-mode observer (smo) is designed to accurately estimate the state variables of nonlinear systems in the presence of disturbances and model uncertainties. the observer has a simple ...

This paper presents the dynamic model of a flexible-link, flexible-joint manipulator system with considerable stiffening effect flexible link. A gripper, along tip mass, is attached at one end By employing extended Hamilton’s principle, nonlinear governing equation motion derived several boundary constraints. Under assumption small deformation in free vibration, simplified deduced to determine ...

This paper presents investigations into the development of linear quadratic regulator (LQR) robust control of a flexible link manipulator. The dynamic model of the system is developed using a finite element methods (FEM). The problems of a flexible link manipulator are uncertainties and parametric nonlinearities. Previous researches have fathom around control methods for the system, few present...