Dynamic Modelling and State-Feedback Control of a Rotational Base Flexible Link Manipulator

Abstract

In this paper, dynamic modelling of single-link flexible robot manipulator is presented using lumped parameter method in a different approach. Model is simulated using MATLAB/ SIMULINK. State feedback controller is used to control the hub angle and tip deflection. Effectiveness of the controller is shown with different payload. State feedback using pole-placement; work satisfactorily with the change in the feedback gain matrix.

Keywords: Robot manipulator, flexible link, modelling, state feedback