Modeling and control of a single-link flexible manipulator featuring a graphite-epoxy composite arm

The dynamic modeling and control of a single-link flexible manipulator fabricated from advanced composite laminates are addressed. The dynamic modeling is accomplished by employing Hamilton´s principle and a finite-element formulation incorporating the Euler-Bernoulli beam theory. An output feedback controller associated with colocated angular position and velocity sensors is designed based on the reduced-order model and experimentally implemented in order to investigate the control performances of flexible manipulators fabricated from aluminum and composite laminates. The control performances are evaluated and compared for two manipulators through step responses of the system to a commanded angular position. It is shown that the manipulator fabricated from composite laminates has superior performance characteristics such as faster settling time, smaller input torque, and smaller overshoot relative to the manipulator fabricated from aluminum