Two-link flexible manipulator modelling and tip trajectory tracking based on the absolute nodal coordinate method

A new dynamic modelling technique for a two-link flexible manipulator based on the absolute nodal coordinate method is firstly investigated. The manipulator flexible links are discretized by ID beam elements based on the absolute nodal formulation, and the shear deformations are neglected. The equations of motion with constant system mass matrix for a two-link flexible manipulator are deducted, and the corresponding integration method with high efficiency is also introduced. The proposed modelling method is validated through the two-link flexible manipulator tip circle and square trajectory tracking control simulations by using a PID controller. The results obtained by using the model based on the absolute nodal coordinate formulation are also compared to those obtained by using the assumed mode method. The simulation results indicate that modelling and controlling the flexible manipulator based on the absolute nodal coordinate formulation is effective.