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Journal articles on the topic 'Single link flexible manipulator'

Author: Grafiati

Published: 3 June 2025

Last updated: 31 July 2025

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1

Petroka, R. P., and Liang-Wey Chang. "Experimental Validation of a Dynamic Model (Equivalent Rigid Link System) on a Single-Link Flexible Manipulator." Journal of Dynamic Systems, Measurement, and Control 111, no. 4 (1989): 667–72. http://dx.doi.org/10.1115/1.3153111.

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Flexibility effects on robot manipulator design and control are typically ignored which is justified when large, bulky robotic mechanisms are moved at slow speeds. However, when increased speed and improved accuracy are desired in robot system performance it is necessary to consider flexible manipulators. This paper simulates the motion of a single-link, flexible manipulator using the Equivalent Rigid Link System (ERLS) dynamic model and experimentally validates the computer simulation results. Validation of the flexible manipulator dynamic model is necessary to ensure confidence of the model

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2

Chang, Liang-Wey, and K. P. Gannon. "A Dynamic Model on a Single-Link Flexible Manipulator." Journal of Vibration and Acoustics 112, no. 1 (1990): 138–43. http://dx.doi.org/10.1115/1.2930089.

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An enhanced Equivalent Rigid Link System (ERLS) model using natural-mode shape function for flexible manipulators is developed. An experimental validation of the model is performed on a single-link manipulator. The Lagrangian dynamics and the Finite Element Method are used to derive the equations of motion. Joint variables and nodal displacements are chosen being generalized coordinates. The model well describes the dynamic behavior of manipulator systems and allows for applications to design a robust motion control.

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3

Kwon, Dong-Soo, and Wayne J. Book. "A Time-Domain Inverse Dynamic Tracking Control of a Single-Link Flexible Manipulator." Journal of Dynamic Systems, Measurement, and Control 116, no. 2 (1994): 193–200. http://dx.doi.org/10.1115/1.2899210.

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A manipulator system with a large workspace volume and high payload capacity has greater link flexibility than do typical industrial robots and teleoperators. If link flexibility is significant, position control of the manipulator’s end-effector exhibits nonminimum-phase, noncollocated, and flexible-structure system control problems. This paper addresses inverse dynamic trajectory planning issues of a single-link flexible manipulator. The inverse dynamic equation of a single-link flexible manipulator was solved in the time-domain. By dividing the inverse system equation into its causal part an

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4

Mohd Yatim, Hanim, and Intan Zaurah Mat Darus. "Development of an experimental single-link flexible manipulator system." International Journal of Engineering & Technology 7, no. 2.29 (2018): 7. http://dx.doi.org/10.14419/ijet.v7i2.29.13116.

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Demand for the applications of flexible manipulator due to their benefits has received attention from the industries. However, the flexibility of flexible manipulator has resulted in structural vibration and needs to be studied accordingly. This paper presents the development of a laboratory facility constituting of single-link flexible manipulator system. A new experimental rig flexible manipulator system constrained to move horizontally was designed, developed and fabricated. The experimental equipment setup and method of capturing data are presented. Experimental works have been done to hig

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5

Vakil, M., R. Fotouhi, and P. N. Nikiforuk. "On the Zeros of the Transfer Function of Flexible Link Manipulators and Their Non-Minimum Phase Behaviour." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 224, no. 10 (2010): 2083–96. http://dx.doi.org/10.1243/09544062jmes2106.

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In this article, a study of the zeros of the transfer function, between the base torque and the end-effector displacement, for flexible link manipulators is performed. The analysis is carried out on a single flexible link manipulator with the initial part of the link being rigid. This type of manipulator is referred to as a slewing single rigid—flexible link manipulator (SRFLM). A new method for finding the zeros of the transfer function of an SRFLM without using the corresponding transfer function is introduced. The changes of the locations of the zeros of an SRFLM owing to the changes in all

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6

Sa'id, Waladin K., Bahaa I. Kazem, and Alya'a M. Manaty. "Hybrid Controller for a Single Flexible Link Manipulator." Journal of Engineering 18, no. 11 (2023): 1242–54. http://dx.doi.org/10.31026/j.eng.2012.11.04.

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In this study, the dynamic modeling and step input tracking control of single flexible link is studied. The Lagrange-assumed modes approach is applied to get the dynamic model of a planner single link manipulator. A Step input tracking controller is suggested by utilizing the hybrid controller approach to overcome the problem of vibration of tip position through motion which is a characteristic of the flexible link system. The first controller is a modified version of the proportional-derivative (PD) rigid controller to track the hub position while sliding mode (SM) control is used for vibrati

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7

Dermawan, Dermawan, Hammada Abbas, Rafiuddin Syam, Zulkifli Djafar, and Abdul Kadir Muhammad. "DYNAMIC MODELING OF A SINGLE-LINK FLEXIBLE MANIPULATOR ROBOT WITH TRANSLATIONAL AND ROTATIONAL MOTIONS." IIUM Engineering Journal 21, no. 1 (2020): 228–39. http://dx.doi.org/10.31436/iiumej.v21i1.1254.

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The flexible manipulator is widely used in space robots, robot arm, and manufacturing industries that produce micro-scale products. This study aims to formulate the equation of motion of a flexible single-link manipulator system that moves translationally and rotationally and to develop computational codes with finite element methods in performing dynamic simulation on the vibration of the flexible manipulator system. The system of the single-link flexible manipulator (SLFM) consists of the aluminum beam as a flexible link, clamp part to hold the link, DC motor to rotate drive shaft, a traject

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8

Chalhoub, Nabil G., and Xiaoying Zhang. "Reduction of the End Effector Sensitivity to the Structural Deflections of a Single Flexible Link: Theoretical and Experimental Results." Journal of Dynamic Systems, Measurement, and Control 115, no. 4 (1993): 658–66. http://dx.doi.org/10.1115/1.2899193.

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The fine positioning problem of the gripper of flexible robotic manipulators is addressed in this study. A two-axis cartesian micro-manipulator is implemented to reduce the sensitivity of the gripper to the structural deformations of a single flexible link. A laser head with a dual axis photodetector are used to provide direct measurements of the transverse deflections at the free-end of the beam and to detect mechanical inaccuracies caused by manufacturing imperfections and assembly misalignment. The advantages of the integrated system of the micro-manipulator with a single compliant beam are

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9

Mario Nebot, Eduardo, Gordon Lee, and Nazmul Karim. "Parameter Identification For A Single-Link Flexible Manipulator." International Journal of Modelling and Simulation 14, no. 3 (1994): 139–44. http://dx.doi.org/10.1080/02286203.1994.11760229.

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10

Feliu, V., K. S. Rattan, and H. B. Brown. "Adaptive control of a single-link flexible manipulator." IEEE Control Systems Magazine 10, no. 2 (1990): 29–33. http://dx.doi.org/10.1109/37.45791.

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11

Tokhi, M. O., Z. Mohamed, and A. K. M. Azad. "Finite difference and finite element approaches to dynamic modelling of a flexible manipulator." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 211, no. 2 (1997): 145–56. http://dx.doi.org/10.1243/0959651971539966.

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This paper presents a comparative investigation of the dynamic characterization of flexible manipulators on the basis of accuracy, computational efficiency and computational requirements using finite difference (FD) and finite element (FE) methods. A constrained planar single-link flexible manipulator is considered. Finite-dimensional simulations of the manipulator are developed using FD and FE methods. The simulation algorithms thus developed are implemented on two computing domains and their performances, on the basis of accuracy in characterizing the behaviour of the manipulator and computa

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12

Shi, Jing Yuan, Kai Jun Ji, Yan Kun Tang, and Kun Yang. "A Finite Element Approach for Single-Link Flexible Manipulator." Applied Mechanics and Materials 347-350 (August 2013): 453–56. http://dx.doi.org/10.4028/www.scientific.net/amm.347-350.453.

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Many researchers have studied the dynamics of the single-link flexible manipulator. A finite element approach is used in this study to describe the dynamics of the flexible link. The displacement of any point on the link is described in terms of modal displacements. Energy approach is used to formulate the equations of motion.

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13

Morris, A. S., and A. Madani. "Static and dynamic modelling of a two-flexible-link robot manipulator." Robotica 14, no. 3 (1996): 289–300. http://dx.doi.org/10.1017/s0263574700019603.

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SUMMARYThis paper is addressed at the difficulty of accurately modelling a two-flexible-link manipulator system, which is a necessary pre-requisite for future work developing a high-performance controller for such manipulators. Recent work concerned with the development of an accurate single-flexible-link model is first reviewed and then the expansion of a single-link model into a two-flexible-link system in a way which properly takes into account the coupling and interactions between the two links is discussed. The method of approach taken is to calculate the elastic and rigid motions of the

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14

Mahto, S., and U. S. Dixit. "Comparative Dynamic Response of a Optimized Single Link Flexible Manipulator." Applied Mechanics and Materials 110-116 (October 2011): 4748–56. http://dx.doi.org/10.4028/www.scientific.net/amm.110-116.4748.

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—In this work, comparative study for dynamic response is carried out for optimized single link flexible robotic manipulator under various types of excitations. Manipulator is considered as an Euler-Bernoulli beam and shape is optimized for circular area of cross-section. Finite element method is used to obtain fundamental frequency and sequential quadratic programming (SQP) is used for its maximization.

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15

Ji, Yidao, and Suiwu Zheng. "Distributed Mode-Dependent Event-Triggered Passive Filtering for Flexible Manipulator with Semi-Markov Parameters." Sensors 21, no. 6 (2021): 2058. http://dx.doi.org/10.3390/s21062058.

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In this paper, the passive filtering problem of flexible robotic manipulator is investigated over sensor networks in a distributed manner from the control system perspective. The sensor networks are adopted to estimate true states of flexible robotic manipulator. In particular, the semi-Markov model is utilized for flexible manipulators with varying loads in unstructured environment, which is more flexible for practical implementations. Moreover, the new mode-dependent event-triggering mechanism is developed for distributed filter communications. Based on model transformation, sufficient condi

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16

Yang, T. C., J. C. S. Yang, and P. Kudva. "Load-adaptive control of a single-link flexible manipulator." IEEE Transactions on Systems, Man, and Cybernetics 22, no. 1 (1992): 85–91. http://dx.doi.org/10.1109/21.141313.

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17

Kerr, M. L., S. F. Asokanthan, and S. Jayasuriya. "ROBUST TRACKING CONTROL OF A SINGLE-LINK FLEXIBLE MANIPULATOR." IFAC Proceedings Volumes 35, no. 1 (2002): 241–46. http://dx.doi.org/10.3182/20020721-6-es-1901.00374.

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18

HEGAZE, M., and A. ABD EL-MOHSEN. "A DYNAMIC MODEL OF A SINGLE LINK FLEXIBLE MANIPULATOR." International Conference on Aerospace Sciences and Aviation Technology 7, ASAT CONFERENCE (1997): 1–13. http://dx.doi.org/10.21608/asat.1997.25413.

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19

Yavuz, Ş., L. Malgaca, and H. Karagülle. "Vibration control of a single-link flexible composite manipulator." Composite Structures 140 (April 2016): 684–91. http://dx.doi.org/10.1016/j.compstruct.2016.01.037.

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20

Coleman, M. P. "VIBRATION EIGENFREQUENCY ANALYSIS OF A SINGLE-LINK FLEXIBLE MANIPULATOR." Journal of Sound and Vibration 212, no. 1 (1998): 109–20. http://dx.doi.org/10.1006/jsvi.1997.1426.

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21

Lu, Jian-Wei, Xiao-Ming Sun, Alexander F. Vakakis, and Lawrence A. Bergman. "Influence of backlash in gear reducer on dynamic of single-link manipulator arm." Robotica 33, no. 08 (2014): 1671–85. http://dx.doi.org/10.1017/s0263574714000915.

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SUMMARYThe dynamic modeling of a flexible single-link manipulator arm with consideration of backlash in the planetary gear reducer at the joint is presented, and the influence of backlash on the dynamic response of the system is evaluated. A 2K-H planetary gear reducer with backlash was employed as an example to discuss the dynamic modeling of the sub-model of the planetary gear reducer, and the sub-model of the planetary gear reducer was established based on the lumped mass method. The flexible manipulator was regarded as an Euler--Bernoulli beam, and the dynamic model of the flexible manipul

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22

Yusra Abdullah Jasim. "The literature review in modeling and fuzzy control of flexible manipulator link with moving end effector." World Journal of Engineering and Technology Research 2, no. 2 (2022): 009–14. http://dx.doi.org/10.53346/wjetr.2022.2.2.0040.

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This investigation provides a review of the literature on the control of robot arms using the fuzzy logic control and the traditional control with a focus on the first one. With the flexible link classification of single link and multi-link manipulators. In addition to showing common methods for deriving the mathematical modeling of the flexible link manipulator and its comparison based on criteria in the flexible link used. Therefore the main distinguishing feature of the review literature here is that it takes a holistic view of the control process in the various systems, rather than focusin

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23

Seghiri, Tounes, Samir Ladaci, and Salim Haddad. "Robust Model Reference Adaptive Control Design for 1DOF Flexible Arm with Payload Variations based on Fractional Order MIT Law." WSEAS TRANSACTIONS ON SYSTEMS AND CONTROL 20 (June 30, 2025): 227–38. https://doi.org/10.37394/23203.2025.20.25.

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Flexible manipulators, due to their inherent structural flexibility, present significant control challenges, especially when manipulating non-fixed payloads. This paper introduces a fractional-order model reference adaptive control (FOMRAC) design to deal with the problem of controlling a single-link flexible manipulator which is subject to joint friction and variation in the load. This control system allows removing the effects of nonlinear friction by implementing an adaptive regulator for the motor position that compensates the coupling torque and Coulomb friction. The tip position control

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24

Wang, Hai, and Xiao Pin Xia. "Simulation of Manipulator with Flexible Joint." Applied Mechanics and Materials 325-326 (June 2013): 999–1003. http://dx.doi.org/10.4028/www.scientific.net/amm.325-326.999.

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Joint flexibility is the key factor during dynamic control of robot manipulator. Accurate dynamic model is the fundamental of manipulator system design, analysis and control. This paper adopts Lagrange method to accomplish two degrees freedom manipulator modeling, and then design Backstepping control law according to a single-link manipulator. For the above control law, the proof of the Lyapunov stability is given and simulations are done. The simulated result suggested that the static error is decreased.

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25

Skaar, S. B., and D. Tucker. "Point Control of a One-Link Flexible Manipulator." Journal of Applied Mechanics 53, no. 1 (1986): 23–27. http://dx.doi.org/10.1115/1.3171731.

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An alternative approach to the control of nonrigid, distributed parameter systems is presented. Transfer functions that relate the response of points on the system to a controlling force or torque are used in place of ordinary differential equations, which represent an approximation to the system dynamics. The implications of this “point control” approach are discussed with regard to plant modeling accuracy, uncontrolled regions, open-loop and closed-loop control strategies, system identification, and feedback estimation. Sample optimal control histories are illustrated for a single-link manip

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26

Mbede, Jean Bosco, and Joseph Jean-Baptiste Mvogo Ahanda. "Exponential Tracking Control Using Backstepping Approach for Voltage-Based Control of a Flexible Joint Electrically Driven Robot." Journal of Robotics 2014 (2014): 1–10. http://dx.doi.org/10.1155/2014/241548.

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This paper addresses the design of exponential tracking control using backstepping approach for voltage-based control of a flexible joint electrically driven robot (EFJR), to cope with the difficulty introduced by the cascade structure in EFJR dynamic model, to deal with flexibility in joints, and to ensure fast tracking performance. Backstepping approach is used to ensure global asymptotic stability and its common algorithm is modified such that the link position and velocity errors converge to zero exponentially fast. In contrast with the other backstepping controller for electrically driven

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27

Chu, Ming, Xia Deng, Qing Xuan Jia, and Fei Jie Huang. "The Composite Control for Single-Link Flexible Manipulator Using Dynamic Sliding Mode and Optimal Based on Dynamic Switching." Applied Mechanics and Materials 275-277 (January 2013): 707–10. http://dx.doi.org/10.4028/www.scientific.net/amm.275-277.707.

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A composite controller is designed based on the singular perturbation model of single-link flexible manipulators. A dynamic sliding mode controller is designed for the slow subsystem, and optimal controller is designed to stabilize the fast subsystem. Numerical simulation results confirm that the proposed controller not only can perform fast and accurate tracking, but also can reduce the chattering of the sliding-mode control, and the proposed controller can suppress the tip vibration of the flexible manipulator effectively.

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28

Rhim, Sungsoo, Ai-Ping Hu, Nader Sadegh, and Wayne J. Book. "Combining a Multirate Repetitive Learning Controller With Command Shaping for Improved Flexible Manipulator Control." Journal of Dynamic Systems, Measurement, and Control 123, no. 3 (1999): 385–90. http://dx.doi.org/10.1115/1.1387445.

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Comand shaping, a feedforward approach used to control flexible manipulators, performs most effectively when applied to a linear system. In practice, various nonlinearities are present in a given system that will deteriorate the performance of command shaping. In this work, a multirate repetitive learning controller (MRLC) is used in conjunction with a command shaping method known as the optimal arbitrary time-delay filter (OATF) for discrete-time joint control of a single flexible link manipulator containing nonlinearities. With very little a priori knowledge of the given system, a MRLC is ab

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29

Belherazem, A., and M. Chenafa. "Passivity Based Adaptive Control of a Single-Link Flexible Manipulator." Automatic Control and Computer Sciences 55, no. 1 (2021): 1–14. http://dx.doi.org/10.3103/s0146411621010028.

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30

Boucetta, R., S. Bel Hadj Ali, and M. N. Abdelkrim. "Global Hybrid Fuzzy Controller for a Flexible Single-Link Manipulator." Journal of Engineering and Applied Sciences 6, no. 1 (2011): 1–5. http://dx.doi.org/10.3923/jeasci.2011.1.5.

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31

Al-Khafaji, Ali Abdulhussin, Nik M. R. Shaharuddin, and Intan Zaurah Mat Darus. "Modelling of a Flexible Single-Link Manipulator Using Metaheuristic Algorithms." International Review of Mechanical Engineering (IREME) 8, no. 6 (2014): 1075. http://dx.doi.org/10.15866/ireme.v8i6.3012.

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32

ERTAŞ, Hacı Ali, and Onur ÖRNEK. "CONTROL OF A SINGLE LINK FLEXIBLE MANIPULATOR USING SEQUENCED CONTROL." Mühendislik Bilimleri ve Tasarım Dergisi 10, no. 2 (2022): 495–503. http://dx.doi.org/10.21923/jesd.963509.

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Mechanical systems are subject to various vibrations and disturbances while working. To get rid of such effects certain control systems have been developed. Sequenced control is a technique that utilizes both PID control and input shaping. It uses input shaping to have the system reach the reference point quickly and without causing vibrations and then switches to PID control to allow the system to be protected against disturbances. Because sequenced control uses PID control and input shaping at optimum times it aims to make use of both of their advantages while negating their disadvantages. W

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33

Huang, Jhih-Wei, and Jung-Shan Lin. "Backstepping Control Design of a Single-Link Flexible Robotic Manipulator." IFAC Proceedings Volumes 41, no. 2 (2008): 11775–80. http://dx.doi.org/10.3182/20080706-5-kr-1001.01994.

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34

Kerr, Murray L., Suhada Jayasuriya, and Samuel F. Asokanthan. "QFT Based Robust Control of a Single-Link Flexible Manipulator." Journal of Vibration and Control 13, no. 1 (2007): 3–27. http://dx.doi.org/10.1177/1077546306064826.

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35

Tzes, Anthony, Pei-Yuan Peng, and Farshad Khorrami. "Fuzzy Neural Network Control for a Single Flexible-Link Manipulator." Journal of Intelligent and Fuzzy Systems 1, no. 4 (1993): 319–34. http://dx.doi.org/10.3233/ifs-1993-1407.

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36

Ouyang, Yuncheng, Wei He, and Xiajing Li. "Reinforcement learning control of a single-link flexible robotic manipulator." IET Control Theory & Applications 11, no. 9 (2017): 1426–33. http://dx.doi.org/10.1049/iet-cta.2016.1540.

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37

Sutton, R. P., G. D. Halikias, A. R. Plummer, and D. A. Wilson. "Modelling and H∞ control of a single-link flexible manipulator." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 213, no. 2 (1999): 85–104. http://dx.doi.org/10.1243/0959651991540412.

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38

Yuan, King. "Regulation of single-link flexible manipulator involving large elastic deflections." Journal of Guidance, Control, and Dynamics 18, no. 3 (1995): 635–37. http://dx.doi.org/10.2514/3.21437.

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39

Shaheed, Mohammad Hasan, and Osman Tokhi. "Adaptive closed-loop control of a single-link flexible manipulator." Journal of Vibration and Control 19, no. 13 (2012): 2068–80. http://dx.doi.org/10.1177/1077546312453066.

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40

Shan, Jinjun, Hong-Tao Liu, and Dong Sun. "Modified input shaping for a rotating single-link flexible manipulator." Journal of Sound and Vibration 285, no. 1-2 (2005): 187–207. http://dx.doi.org/10.1016/j.jsv.2004.08.035.

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41

Malgaca, Levent, Şahin Yavuz, Murat Akdağ, and Hira Karagülle. "Residual vibration control of a single-link flexible curved manipulator." Simulation Modelling Practice and Theory 67 (September 2016): 155–70. http://dx.doi.org/10.1016/j.simpat.2016.06.007.

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42

Pratiher, Barun, and Santosha Kumar Dwivedy. "Non-linear dynamics of a flexible single link Cartesian manipulator." International Journal of Non-Linear Mechanics 42, no. 9 (2007): 1062–73. http://dx.doi.org/10.1016/j.ijnonlinmec.2007.06.001.

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43

Latornell, D. J., and D. B. Cherchas. "Force and motion control of a single flexible manipulator link." Robotics and Computer-Integrated Manufacturing 9, no. 2 (1992): 87–99. http://dx.doi.org/10.1016/0736-5845(92)90002-n.

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44

Liu, Linghua, and Aleksander Hac. "MODELLING AND OPTIMAL TRACKING OF A SINGLE‐LINK FLEXIBLE MANIPULATOR." Optimal Control Applications and Methods 16, no. 2 (1995): 105–26. http://dx.doi.org/10.1002/j.1099-1514.1995.tb00008.x.

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45

Salmasi, H., R. Fotouhi, and P. N. Nikiforuk. "A manoeuvre control strategy for flexible-joint manipulators with joint dry friction." Robotica 28, no. 4 (2009): 621–35. http://dx.doi.org/10.1017/s0263574709990373.

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SUMMARYA new control strategy based on the singular perturbation method and integral manifold concept is introduced for flexible-joint manipulators with joint friction. In controllers so far developed based on the singular perturbation theory, the dynamics of actuators of flexible-joint manipulators are partially modelled, and the coupling between actuators and links is ignored. This assumption leads to inaccuracy in control performance and error in trajectory tracking which is crucial in high-precision manipulation tasks. In this paper, a comprehensive dynamic model which takes into account t

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46

Eser, Sezgin, and Sevda Telli Çetin. "Optimum control of a flexible single link manipulator with Artificial Bee Colony Algorithm." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 236, no. 7 (2021): 3731–42. http://dx.doi.org/10.1177/09544062211045480.

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This paper presents a stable control for a single link flexible manipulator. The flexible manipulator is considered as Euler–Bernoulli beam, and its dynamic model is developed based on assumed mode method. Position and vibration control are realised with a single controller as motor torque. The controller has three parameters that must be selected. In this paper, the main motivation is to find the suitable parameter values to generate optimum torque values in every sampling time. In order to achieve this goal, Artificial Bee Colony Algorithm is performed, and the controller parameters are opti

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47

Rahman, Z. A., A. A. Mat Isa, Haydar H. Ali, and M. A. Anuar. "Control of Flexible Beam with Unmodelled Dynamics Using Second-Order Pole Placement and LQR Techniques." Applied Mechanics and Materials 393 (September 2013): 675–82. http://dx.doi.org/10.4028/www.scientific.net/amm.393.675.

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Control of a flexible beam such as that in flexible-link robot manipulators in many mechanical devices is very challenging, due in part to its intrinsic nature of unmodelled dynamics in a system. Such a system is said to be subjected to nonholonomic constraints, hence its feedback control is difficult to realize. This paper presents the application of control design based on second-order pole placement and LQR approaches to a single-link flexible robotic arm. In this case, a controller considering the flexibility of highly-flexible arm is employed to suppress the tip vibration of the manipulat

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48

Mahdi, Hussain. "POSITION CONTROL FOR FLIXEBLE JOINT MANIPULATOR USING ARTIFICIAL NEURAL Network." Diyala Journal of Engineering Sciences 1, no. 1 (2008): 122–38. http://dx.doi.org/10.24237/djes.2008.01109.

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The control of a rotating single flexible link manipulator and/or a two-coupled flexible link manipulator arm is a highly nonlinear problem. Due to the distributed flexibility. The Mechanical system of a flexible joint two-degree manipulator robot arm has been designed and implemented by using stepper motor, movement axis and External Model Circuit (EMC) for controller. The (EMC) includes Buffer, stepper motor driver and programmable Input/Output. This system is controlled by using two method .The first is Artificial Neural Networks (ANN). The neural network has a feed-forward topology and lea

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49

Subudhi, Bidyadhar, and Subhakanta Ranasingh. "Evolutionary computing approaches to optimum design of fuzzy logic controller for a flexible robot system." Archives of Control Sciences 23, no. 4 (2013): 395–412. http://dx.doi.org/10.2478/acsc-2013-0024.

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Abstract This paper presents the design of a Fuzzy Logic Controller (FLC) whose parameters are optimized by using Genetic Algorithm (GA) and Bacteria Foraging Optimization (BFO) for tip position control of a single link flexible manipulator. The proposed FLC is designed by minimizing the fitness function, which is defined as a function of tip position error, through GA and BFO optimization algorithms achieving perfect tip position tracking of the single link flexible manipulator. Then the tip position responses obtained by using both the above controllers are compared to suggest the best contr

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Liu, Fushou, and Dongping Jin. "A High-Efficient Finite Difference Method for Flexible Manipulator with Boundary Feedback Control." Space: Science & Technology 2021 (August 18, 2021): 1–10. http://dx.doi.org/10.34133/2021/9874563.

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The paper presents a high-efficient finite difference method for solving the PDE model of the single-link flexible manipulator system with boundary feedback control. Firstly, an abstract state-space model of the manipulator is derived from the original PDE model and the associated boundary conditions of the manipulator by using the velocity and bending curvature of the flexible link as the state variables. Then, the second-order implicit Crank-Nicolson scheme is adopted to discretize the state-space equation, and the second-order one-sided approximation is used to discretize the boundary condi

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