Robust Control Algorithms for Two-link Flexible Manipulators PDF

Various modelling and control of two-link flexible manipulators are presented in this book. The lumped parameter modelling method and the assumed modes method modelling are reviewed comprehensively. The book also reviews the trajectory tracking problem and tip trajectory tracking problem along with the suppression of tip deflection of the links. An exponential time varying signal and a chaotic signal are considered as the desired trajectories. The identical/non-identical slave manipulator is synchronised with the controlled master manipulator so that the slave manipulator indirectly follows the desired manipulator.

Authors: Kshetrimayum Lochan, Binoy Krishna Roy, Bidyadhar Subudhi, Santhakumar Mohan