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

Document Type



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.


Automatic control; Bending; Fuzzy logic; Manipulation; Manipulators (Mechanism); Simulation; Studies


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


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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

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