The Dynamic Response Control Of Flexible Manipulator

Flexible manipulator as the typical flexible multibody system, was widely used as the flexible multibody system model. However, because of the flexible manipulator contains a number of flexible units and during its operation it would has distorted, elastic and shear deformation, so it brought about many difficulties to the analysis and control work.This paper is based on the flexible manipulator's characteristics and structural features, and use of flexible multi-body system dynamics approach to the mode with the assumption that as three joints flexible manipulator as Euler-Bernoulli beam model, use of the recursive method and modality method set up a flexible manipulator system dynamics model with flexible machinery joint arm angle parameters. Through the numerical integration method of Newmarkβon system dynamic response, it gives the flexible arm's respond curve of state parameters during the movement process. According to the simulation results, it shows the model is correct. And then do not consider the premise of flexible, through the CMAC neural network system to identify robot arm and during the process of recognition to iterate the optimal joint angle displacement of flexible manipulator to tracking the scheduled end track. And according to the optimal joint angular displacement, combine the neural network and predictive scrolling optimizing theory, designed a flexible manipulator trajectory intelligent control system. By the computer simulation shows that the control system can control the robot arm to precise tracking the desired trajectory.