Simulations of the Trajectory Tracking and Vibration Suppression Control of Flexible-Link Robot Arm

This paper deals with the link-tip trajectory tracking control and vibration suppression of the flexible-link robot arm. The assumed mode shape method and the Bernoulli-Euler beam model are employed to establish the nonlinear dynamic model of the single-link flexible robot arm. A nonlinear feedback control method based on the model is adopted to partly decouple the joint variable and elastic deformation. The inverse dynamic method and the Linear Quadrics (LQ) optimum control method are used to study the trajectory tracking and the vibration suppressing. Numerical simulations prove the validity of the method.