Flexible manipulator modelling and vibration control using end-point residual velocity feedback

Abstract

This project presents the modeling and simulation of a two-link flexible manipulator and the control of a single-link manipulator taking into consideration the effects of payload variation on the rate of change of the residual motion of the tip. The characteristic behavior of the dynamic model was investigated in terms of transient response using MATLAB and SIMULINK. The results show that the response of system contains highly undesirable vibrations. In order to reduce this vibration, an Optimized Modified parallel PD controller was proposed using the rate of change as the feedback signal, which is better than acceleration feedback. The Optimized Modified PD involved the use of graphical based Direct search (pattern Search) method to optimized the controllers parameters. It was found out that as the payload increases, the vibration gain also increases, however trajectory tracking met the design specification and vibration was greatly reduced using this algorithm.In comparison to the pure parallel PD, the PPD has a better response time,but was unable to reduce vibration, which makes the OMPD controller better.