Model-Based Control of Planar Rigid-Flexible Manipulator

In this paper, the mathematical modeling and model-based control of the planar rigid-flexible manipulator has been presented. Small deflection has been assumed in flexible link. Modeling is based on frame transformation matrices which describe the rotation of the frames. The Lagrangian approach has been used to derive the ideal dynamic model of the rigid-flexible manipulator, for which kinetic and potential energies of the system have been calculated. For simulation and control purposes, a finite-dimensional model was required, for which the assumed mode method (AMM) has been used. The model-based controller has been designed and simulations are successfully carried out in MATLAB/Simulink.