The singular perturbation approach has been shown to be successful in controlling both  exible link manipulators and  exible joint manipulators. In this paper, the technique is extended to control both link and joint  exibility of a multilink manipulator simultaneously while a desired trajectory is being tracked. A comprehensive, closed-form, Euler–Lagrange, assumed-mode model of a multilink...

This paper describes the design of a small-scale three degree-of-freedom compliant-mechanismbased manipulator with an approximately 2cm x 2cm x 2cm cubic workspace. The manipulator exhibits a significantly larger range of motion and better spatial structural properties than a conventional compliant mechanism, due primarily to a unique flexure joint developed by the authors. A brief description ...

This paper presents the design of PD-type fuzzy logic controller (PDFLC) for vibration control of a single-link flexible manipulator system. A flexible manipulator system is a SIMO system with motor torque as the applied input and the hub angle and tip deflection as its two outputs. The system is modelled using the finite element method. The PDFLC have two inputs, the hub angle error and its de...

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 ...

Ideally, one would design a manipulator to be as rigid as possible. However there may be some occasions when the manipulator will be flexible. This will occur when the manipulator is very long and lightweight. Traditional flexible manipulators are difficult to control. This is because the manipulator has a nonlinear position variant behavior. Unfortunately using a large gear reduction does not ...

A method for suppressing residual vibrations in flexible systems is presented and experimentally demonstrated. The proposed method is based on the preconditioning of the inputs to the system using conventional low-pass FIR digital filters. Several classes of FIR filters such as: a) Parks-McClellan; b) Windowbased method (using Chebyshev window); and c) Constrained Least Squares method, are show...

This paper presents the development of an optimal self-tuning PID controller for vibration suppression of flexible manipulator structures using particle swarm optimization (PSO). A simulation environment characterizing the dynamic behavior of the flexible manipulator system was first developed using finite difference (FD) approach to acquire the input-output data of the system. The global searc...