Distributed parameter singular perturbation model and cooperative control of flexible manipulators

In this paper, the distributed parameter model of flexible manipulators holding a rigid object moving in a horizontal plane is derived. The obtained distributed parameter model is divided into a lumped parameter subsystem and a distributed parameter subsystem via the singular perturbation method. Considering the characteristics of flexible manipulators, a combined cooperative control algorithm is proposed which include a hybrid force/position controller for the lumped parameter subsystem and a direct strain feedback controller for the distributed parameter subsystem to suppress the vibration. Stabilization analysis of subsystems and numerical simulations are carried out and a significant performance is well demonstrated.