Control Dynamics of a Flexible Manipulator

P.D. control of the manipulator with two flexible arms based on the MEF

In this work, we adopted two types of control of the two-flexible arms (flexible manipulator) modeled by finite element method:

1-The viscoelastic treatment, by the use of the multi-layered generic beam, this method allowed us the control of vibrations and the lightening of structure.

2- P.D. controller is used to control the monitoring of the circle-trajectory plan beforehand in the operational space. The command values of the rotoïde joints in flexible case must be calculated from geometric and kinematics models of a rigid similar robot, by using the value of the rotations of corresponding flexible structure. The Cartesian positions of nodes are calculated for monitoring the trajectory of the free end point of the manipulator.

Compared with the rigid robots, the P.D. controller of robots with flexible links remains competitive by adopting this strategy; it is sufficient to choose better the gains of control.