tailieunhanh - Dynamic Modeling and Control of a Flexible Link Manipulators with Translational and Rotational Joints

In this paper, a nonlinear dynamic modeling and control of flexible link manipulator with rigid translational and rotational joints is presented. This model TR (Translational-Rotational) is developed based on single flexible link manipulator with only rotational joint. Finite element method and Lagrange approach are used to model and build equations of the motion. PID controller is designed with parameters (Kp, Ki, Kd) which are optimized by using Particle Swarm Optimization algorithm (PSO). | VNU Journal of Science: Mathematics – Physics, Vol. 34, No. 1 (2018) 52-66 Dynamic Modeling and Control of a Flexible Link Manipulators with Translational and Rotational Joints Duong Xuan Bien1,*, Chu Anh My1, Phan Bui Khoi2 1 Military Technical Academy, No. 236, Hoang Quoc Viet, Cau Giay, Hanoi, Vietnam Hanoi University of Science and Technology, No. 1, Dai Co Viet, Hai Ba Trung, Hanoi, Vietnam 2 Received 08 December 2017 Revised 04 January 2018; Accepted 04 January 2018 Abstract: Flexible link manipulators are widely used in many areas such the space technology, medical, defense and automation industries. They are more realistic than their rigid counterparts in many practical conditions. Most of the investigations have been confined to manipulators with only rotational joint. Combining such systems with translational joints enables these manipulators more flexibility and more applications. In this paper, a nonlinear dynamic modeling and control of flexible link manipulator with rigid translational and rotational joints is presented. This model TR (Translational-Rotational) is developed based on single flexible link manipulator with only rotational joint. Finite element method and Lagrange approach are used to model and build equations of the motion. PID controller is designed with parameters (Kp, Ki, Kd) which are optimized by using Particle Swarm Optimization algorithm (PSO). Errors of joints variables and elastic displacements at the end-effector point are reduced to warrant initial request. The results of this study play an important role in modeling generalized planar flexible two-link robot and in selecting the suitable structure robot with the same request. Keywords: Flexible link, translational joint, elastic displacements, control, PSO. 1. Introduction Flexible link manipulators with translational and rotational joint have received more attention recently because of many advantages and applications. The considering translational joint and .