Modelling and control of rigid-flexible manipulators

Dynamic modelling and control of manipulators involving both rigid and flexible links are presented in this chapter. Various modelling approaches are discussed, and as an example, the equations of motion of a rigid-flexible two-link manipulator are derived using Hamilton s principle. Discretisation of the governing equations and the effects of coupling between rigid and flexible degrees of freedom are examined. The response to an impact with a rigid surface is studied to investigate the effect of link flexibility on the dynamic response. Various control strategies used in rigid-flexible manipulators are reviewed. As an example, the performance of a non-model-based independent joint proportional, derivative (PD) control is demonstrated. Trajectory tracking and various implementation issues are also discussed.