抄録
Recently the necessity of the multi-link flexible manipulators is increasing because of their advantage of lightweight properties, low energy consumption, high speedoperation and so forth. However, since the mathematical model of such flexible manipulators should be treated as infinite-dimensional nonlinear systems, the controlproblems of the flexible manipulators are one of the challenging problems. In this paper, we present a control method of multi-link flexible manipulator is regarded as a lumped parameter system for the sake of simplicity. The dynamics of the approximated flexible manipulator model are derived via the Hamilton’s principle. In order to obtain the behavior of tip-mass, the strain of the tip arm is measured and the acceleration of the tip-mass is estimated by the sliding mode observer. A linear controller for the linearized error model based on the output of the sliding mode observer is constructedvia the LQ control theory. Simulation results show that the chattering due to the sliding mode observer does not affect the control results of the multi-link flexible manipulator.
