Modeling and sliding mode control for a single flexible manipulator

Abstract

Due to material savings and acceleration time reduction, robotic manipulators are designed to be more slender. Therefore, the elasticity of the links should be taken into account in the dynamic study and control design. This paper concerns modeling and control of a single flexible manipulator (SFM). The finite element method (FEM) and Lagrangian equations are exploited to establish the dynamic modeling of SFM. Firstly, the Jacobian matrix is built based on kinematic analysis. Then it is used in construction of a mass matrix for each element. The position and vibration of SFM are controlled by conventional sliding mode controller (CSMC). Its parameters are chosen by linearized equations to guarantee the stability of the system. The numerical simulation is carried out to show the efficiency of the proposed approach.