Dynamic modeling and optimal control of flexible robotic manipulators

A methodology for mathematical modeling and control of flexible robotic manipulators is presented. For the sake of simple exposition of the basic methology, a single-axis robot consisting of a flexible arm driven by a servomotor is considered. The complete dynamics of the robot is given in terms of a coupled system of ordinary and partial differential equations. A finite-dimensional model is also developed from this model using the technique of modal expansion. A control scheme is presented for optimal regulation of the flexible manipulator to achieve a desired angular rotation of the link while simultaneously suppressing structural vibrations