| A two-link flexible manipulator was constructed. Dynamic models of a two-link flexible manipulator were constructed using the Finite Element Method (FEM). Trajectories were designed to minimize vibration. Adaptive controllers were implemented, and adaptive friction compensation schemes were studied to reduce steady-state error during trajectory tracking. Efforts in adaptive control culminate in a nonlin~ar1y parameterized adaptive controller that is capable of adapting to the Armstrong-Helouvry friction model. Experimental verification of input shaping methods was undertaken, including an investigation of robust input shaping technology and adaptive input shaping. A novel trajectory was created using input shaping techniques to ensure vibration free movement of the manipulator. Experimental verification of this trajectory shows that vibration is reduced by approximately 97% compared to a simple step input. From the results it is concluded that vibration free motion of a flexible manipulator is possible with simple trajectories, and robustness to frequency modelling error can be assured. |
