Active Control Of Flexible Manipulator Based On Energy Method

As the ability of human productivity improve, the flexiblemanipulators are widely used in all kinds of mobile robots or platforms,space exploration, military reconnaissance, counter terrorism and familyservices, because its high load/weight ratio and quality of the light, lowpower consumption characteristics. It is play a more and more importantrole in modern life. The lightweight material is widely used in the field offlexible manipulator，for the reason that low consumption, the structure ofsmall size and so on. But the shortcoming of the lightweight material isinevitable, which makes the flexible manipulator deformation during themoving. This situation will result mechanical vibration.In aviation,aerospace and other fields of high precision and high security, slightvibration may cause serious consequences, so the research on how tocontrol the vibration of flexible manipulator is very important to a topic.In high precision and high security fields likes aviation field andaerospace field. A little vibration may lead to serious consequence, so thestudy on how to control the vibration of flexible manipulator is a veryimportant topic.For the sake of this complex coupled system, this paper useLagrange equation to establish its dynamic model. Then use the finitesegment method to discretize the vibration of continuous model. Theresults of simulation show that both of this method, finite element methodand the assumption mode method is the same. They all can fully describethe dynamics characteristics of the flexible manipulator. This found thefoundation of the following energy control method research.After establishing mathematical model, this paper will applied a kindof flexible system control method (energy method) to the flexiblemanipulator, and then use lyapunov function analyze the control results.According to the mathematical calculation mathematical model, verifythat the control method is correct and feasible. We analyze the changingrule between the feedback parameters and the influence factor byanalyzing the mathematical model. Then prove the validity of thecalculation results by modeling and simulation. After a mathematical model and the vibration control, we use the numerical method to simulateflexible manipulator dynamics. Then we study on different flexiblemanipulator model, analysis the end-point vibrate, the manipulator rotateangle curve during different control methods. Compare control methodsbased on these two simulation data analysis. Finally, using the ADAMSvirtual prototype to validation experiments, the experimental resultsfurther validate the accuracy and feasibility of the path planning.