Title

Modelling and Simulation of a Three-Link Spatial Manipulator with One Flexible Link

Document Type

Article

Abstract

This paper addresses a manipulator with rigid and flexible links and a payload at its tip. A model is developed that considers gravity and the coupling between the rigid body motion of the system and the bending detection of the flexible link. A simulation study is carried out where a joint proportional-derivative (PD) controller and a fuzzy logic controller (FLC) are applied to the manipulator. The objective is to drive the joints of the manipulator toward a desired destination starting from arbitrary initial conditions while reducing the payload vibrations. The simulation study shows that the FLC is superior to the PD controller in handling manipulators with rigid and flexible links.

Disciplines

Acoustics, Dynamics, and Controls | Applied Mechanics | Computer-Aided Engineering and Design | Controls and Control Theory | Materials Science and Engineering | Mechanical Engineering

Permissions

Use Find in Your Library, contact the author, or use interlibrary loan to garner a copy of the article. Publisher copyright policy allows author to archive post-print (author’s final manuscript). When post-print is available or publisher policy changes, the article will be deposited

Publisher Citation

Moustafa, K., Trabia, M. B., Emira, M. N., & Elnaggar, S. (2009). Modelling and simulation of a three-link spatial manipulator with one flexible link. International Journal of Modelling & Simulation, 29(4), 1. http://ezproxy.library.unlv.edu/login?url=http://search.proquest.com/docview/722444981?accountid=3611