Composite pseudolink end-point control of flexible manipulators

A novel method of decomposing the dynamical equations of a three-link flexible manipulator is described. The concept of a `pseudolink´ is used to separate the full manipulator-system model into a pseudolink subsystem model and a flexible subsystem model. A composite controller is designed for achieving accurate end-point positioning and trajectory tracking of a predetermined trajectory described in terms of pseudolinks, and for stabilizing the flexible subsystem. Simulation results are presented to demonstrate the effectiveness of the control method. Practical steps for implementing this strategy in an actual system are also discussed