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Development of a Simulink based Simulation and Control Environment for Flexible Robotic Manipulator Systems

Abul K M Azad, Said Oucheriah and Youakim Al_Kalaani

Department of Engineering Technology, Northern Illinois University, Still Hall 203E, Illinois, IL-60115, USA. Email: azad@ceet.niu.edu

Abstract

This paper deals with the development of an interactive and user friendly environment for the simulation of flexible manipulator system. A constrained planer single-link flexible manipulator is considered for this environment. Simulation algorithm is based on finite difference method where the systems governing dynamic equation is discretized and implemented within simulink environment. This environment has proven to be a valuable educational tool for understanding the behaviour of flexible manipulator system and development of various controller designs. The environment can be used as a computer aided teaching facility and also a test-bed for newly designed controllers for flexible manipulator systems. Both open-loop and closed-loop control strategies were also incorporated within the environment.

1 Introduction

Flexible manipulator systems are receiving increasing attention due to their advantages over conventional robot manipulators. The advantages of flexible manipulators are faster response, lower energy consumption, relatively smaller actuators, higher payload to weight ratio and, in general, less overall cost 1. Due to their flexible nature, induced vibrations appear in the system during and after a positioning motion. This restricts their wide spread use in industry. A considerable amount of research work has already been carried out on the vibration control of flexible manipulators. However, a generic solution to the problem is yet to be obtained 2, 3, 4, 5, 6, 7 .

To formulate and implement an effective control strategy for efficient vibration suppression of the system, it is important to recognise the flexible nature of the manipulator and construct a mathematical model for the system that accounts for the interactions with actuators and payload 8, 9. Such a model can be constructed using partial differential equations (PDEs). The finite element (FE) method has also been utilised to describe the flexible behaviour of

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Oucheriah, S., & Azad, A. (2002, June), Development Of A Simulink Base Simulation And Control Environment For Flexible Manipulator Systems Paper presented at 2002 Annual Conference, Montreal, Canada. 10.18260/1-2--11083