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Modelling and Control of Single Link Manipulators for Flexible Operation by using Linearization Techniques


Author : G. Venkata Narayana and P. Ramesh

Pages : 611-616
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Abstract

 
The Euler-Bernoulli’s method is used to model the dynamics of single link flexible manipulator. Model is highly nonlinear in nature, consists of partial differential equations, and so with the help of MATLAB & SIMULINK is taken. The state space model is designed by using S function block in SIMULINK and it’s M-file in MATLAB. The response of the model is obtained in SIMULINK, which consists of angular position and tip vibration of flexible manipulator. It is found to be unbounded. To control the angular position and tip vibration of the manipulator, different type of controllers PID, Pole Placement and LQR has been designed. PID controller is designed by considering the flexible link as a rigid one and its response is observed in SIMULINK, it is found to be bounded.LQR and Pole Placement techniques are used and their responses are observed in SIMULINK, which are found to be bounded and satisfactory. Comparison of three type of controllers is made and found that LQR control is better than others.

Keywords: Single Link Flexible Manipulator, PID Controller, LQR Technique, Pole Placement Technique, Euler-Bernoulli’s method

Article published in International Journal of Current  Engineering  and Technology, Vol.3,No.2 (June- 2013)

 

 

 

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