Modeling and Control of Multi Flexible Link Robot: Using Classical and Intelligent controllers

Document Type : Original Article

Authors

1 Assistant Teacher, The Higher Institute of Engineering, C.S.C.,6 of October City.

2 Dr., Associate Professor, Faculty of Engineering, Cairo University.

3 Prof. Dr., Professor, Faculty of Engineering, Cairo University.

Abstract

Abstract:
The objective of this paper is concentrated on position and vibration control of multi
flexible links robots which take a wide place of research now, especially in aerospace
applications (e.g. the space shuttle). A discussion of the kinematics and dynamics of the
flexible multi-link robots was established based on Newton-Euler formulation leading to
a nonlinear dynamic model was simulated. A linearization of nonlinear model of two
flexible links was followed result a linear model which was formed as a state space
form, so an optimal control was applied. Fuzzy control was also applied to the linear
model obtained from the above linearization. Finally a nonlinear model of two flexible
links was simulated and fuzzy control was applied with different suggested trajectories
and Simulation results for control demonstrate that the controllers perform very well for
the tracking the desired trajectories.

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