Vibration control and calculating inverse dynamics of the rigid-flexible two-link manipulator T-R

The dynamics and control of flexible link manipulators (FLMs) are increasing in industrial robotics research. In which the problem inverse is a that has been studied little no general solution. this paper, an approximation method presented to calculate reverse serial with rigid-flexible links. linearization motion equations for translation rotation two-link manipulator (manipulator T-R) addressed. vibration calculating periodic T-R studied. Taguchi used design gain values controller PD manipulator. results numerical simulation show efficiency usefulness proposed method.