Vibration Control and Experiment Research of Two-Link Flexible Manipulator Considering Flexibility of the Joint

In order to learn the vibration control of two-link flexible manipulator considering the flexibility of the joint, Absolute Coordinate Based (ACB) is utilized to model space manipulator links and joints to develop the dynamic equations of a rigid-flexible coupling two-link flexible manipulator system. The comparative study is carried on LQR and PD for active control of the flexible manipulator. Aiming at the practical engineering requirements of the flexible manipulator, a combined control strategy by LQR-PD is proposed. The controller is designed and applied to the simulation of the two-link flexible manipulator. Two-link flexible manipulator platform is set up and the control experiment is conducted. Results show that the proposed strategy is effective in tracking of the joint trajectory accurately and inhibiting the residual vibration of the end of the link, which means it has important practical significance and broad application prospect.