Path Optimization And Control Of The Flexible Manipulator

Manipulator is a primary tool of modern automation industry. Because it has the advantage of large workspace, flexibility, and can work in inaccessible environments of the human work, so manipulator has been very widely used in the industrial, aerospace and medical equipment. Relative to the rigid manipulator,the flexible manipulator has the advantage of lightweight, larger load-bearing, finesse. So flexible manipulator has been paid more attention and studied. Also, because it has redundant degrees of freedom, plenty of room for work, manipulator completes a task will bring multiple different options. Such as manipulator moves from the starting position to the termination position, there is a variety of acceptable path, which lead to the controller designing has lots of strategies. Therefore, different of expectation movement will have different performances of controller. This paper chooses the shortest path of the end as expectation movement to design the controller. This controller can satisfy control requirements, but can improve work efficiency, saving working time, space and fuel.In this paper, based on the structural characteristics of the manipulator, the two joint robots will be treated as Euler-Bernoulli beam connected model. Manipulator system dynamics model was established by Lagrange Equation. The sum of the end displacements of beam 1 and beam 2 is the objective function. Making this objective function to achieve minimum by Optimal Control, then will seek to the shortest working path of manipulator,which corresponds to joint angular displacements. This paper analyzes system dynamic response with the NewmarkβMethod. Then a flexible manipulator neural network identification model has been established. Combining Neural Networks and Predictive Control, Rolling Optimization Theory, this paper has designed a intelligent control system for trajectory tracking of flexible manipulator. The computer simulation shows that the control system can very well track the expectations of the angular displacements, while meeting the requirements of speed adjustment.