A new modeling approach to single-link flexible manipulator using singular perturbation method

This paper presents a new methodology for modeling a single-link flexible manipulator with an arbitrarily large (infinite) number of deflection modes based on the singular perturbation method. It is shown that a part of the fast dynamics of the singularly perturbed system representing flexibility is treated as a norm-bounded uncertainty. In other words, the proposed approach to modeling actually characterizes, in some sense, a reduced-order model of the system. Output feedback control of the tip position is controlled by utilizing the ɛ-dependent H∞ technique on the rest of the certain dynamics of the manipulator. Robust regulation is obtained by minimizing the influence of the uncertainty on the tip position. The proposed strategy is applied to a single-link flexible arm and the simulation results verify the effectiveness of the analysis and design.

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