ROBUST ADAPTIVE CONTKOL FOK THE MOTION TRAJECTORY OF MULTI-LINK FLEXIELE MANIPULATORS

The motion trajectory control problem of multi-link flexible manipulators is considered in this paper.The dynamic modelling,structure design of control systems and robust adaptive control algorithm forthe flexible manipulators are studied. The approximate dynamic equations of flexible robot are built by means of assumptive modes method.According to the input-output characteristic of flexible manipulators,the equivalent dynamic equations are built, and the multi-modal robust adaptive controller is designed.Lastly,the simulation experiment results are given.