Simulations and Trajectory Tracking of Two Manipulators Manipulating a Flexible Payload

Manipulating flexible payloads are being extensively studied because of the potential applications. So far, the modeling method isn´t perfect and there are few studies about the trajectory tracking of them. In this paper the modeling and trajectory tracking of manipulating flexible payloads by robot manipulators are studied. The finite element method (FEM) is used to approximate the vibration of flexible payload. In order to restrain the disturbance of vibration to trajectory tracking the adaptive sliding mode control law is designed. The stability of the system is proven by stability theory. Simulation results validate the modeling method and control law.