State space control of a multi link robot manipulator by a translational modelling technique

Abstract

An attempt is made to control a multi-link flexible robotic manipulator by a general state-space controller. A model for the complicated dynamics can be achieved by a physical modelling technique. Simulation tests on the control of a two-link robotic flexible manipulator are carried out. The fundamental mode of vibration is modeled by a piggyback translational spring-mass system, making the derivation of the mathematical model more simple. An optimal control technique is used in the design of the controller.<>