| dc.description.abstract | Flexible-Iink manipulator has many advantages over classic rigid body manipulator in
industrial and space applications. However, it also poses high requirements on controller
design, to ensure the accurate tip position tracking and suppression of tip
deflection/vibration.
This thesis sets up the model, both linear sections and nonlinear sections, for a typical
apparatus. It discusses, by simulations and experiments, the solutions for these control
problems. PD controller plus conditional I control is found elective on rigid body
tracking control, and P controller with second-order lowpass filter proves effective on the
suppression of deflection/vibration. Optimized PIDP controllers are experimentally
implemented and the system performances are shown.
Further this thesis discusses a LQR controller which uses a ninth-order full state feedback.
Experimental results using the LQR controllers show an improvement over the PIDP
controller, particularly in the suppression of flexible beam deflection. | |
