Adaptive Inverse Control for Two-Links Flexible Manipulator

摘要

The elastic vibrations of two-link manipulators are decoupled from the flexible manipulator for vertical planar two-links flexible manipulators. And the system was decomposed into two subsystems, slow-changing subsystem and fast-changing subsystem. An adaptive inverse controller based on model-reference is established for slow-changing subsystem. The fast-changing subsystem was deal with as disturb signal from system. The simulation results show that the proposed method not only can accurately and fast track the tip trajectory of manipulator, but also can effectively damp the elastic vibrations of two links manipulator, and is strongly robust to the variation of system parameters. The characteristic of this method is that each equivalent vibration parameters can be adaptively estimated and compensated respectively, so it is simple and easy to implement.