The Application Of Computer Algebra In Modelling And Vibration Control Of A Flexible Manipulator

This paper presents the application of computer algebra to modelling and vibration control of a flexible manipulator system. A symbolic-based model characterising the behaviour of the manipulator is developed using a symbolic language based on finite element and Lagrange methods. In this approach, the system transfer function is obtained in symbolic form. Analyses are carried out to investigate the significance and relations of the physical parameters of the flexible manipulator with the system characteristics including poles, zeros, stability, vibration frequencies and non-minimum phase characteristics of the system. The symbolic results are then used to design an effective input shaping vibration control scheme. Simulation results of the response of the manipulator are presented to demonstrate the application of the symbolic algorithm in modelling and control of a flexible manipulator. The symbolic results are then used to design an effective input shaping vibration control scheme. Simulation results of the response of the manipulator are presented to demonstrate the application of the symbolic algorithm in modelling and control of a flexible manipulator.