Dynamic modeling and payload-adaptive control of a flexible manipulator

The modeling and control of a lightweight flexible manipulator with end-point sensing/feedback are studied. Using the FEM (finite-element method) scheme in modeling a flexible manipulator, a lower-order compensator can be accomplished. The performance of this near-optimal compensator has been investigated through simulations. The simulation results have shown that the implementation of a payload-adaptation synthesizer, which synthesizes a payload identified and a nominal regulator/estimator interpolator to obtain a near-optimal compensator, has been successful in identifying the payload which is applied on the tip. The synthesizer provides a near-optimal damping for this noncolocated control system with torque constraint on the actuator