Dynamic model and tip trajectory tracking control for a two-link flexible robotic manipulator

In this paper, the dynamic model of a two-link flexible robotic manipulator is established in which the body coordinate references of flexible arms adopt clamped-free cases so that the control laws are easily performed. Based on the technique of input-output linearization, the dynamic model is partially linearized. The joint variables are decoupled from the elastic variables. A new coordinate frame is set up by the observable output. In order to avoid the unstable internal dynamics of the tip tracking control system, a nonlinear state feedback control law with the elastic stabilization for two-link flexible manipulators is designed. A sufficient condition for asymptotic stability of the closed-loop system is derived. Simulation results prove the efficiency of this control law