Adaptive Controller for Manipulator with Flexible Links
This paper is concerned with the design and implementation of trajectory tracking controller for flexiblelink manipulator based on adaptive neural network. The finite element model is used to model the elastic behavior of the robot's arm. Adaptive control structure is used to track the desired trajectory and dampen the end-point vibration. It is consisted from PD controller to stabilize the system and neural network with feedback error on-line learning scheme to control the elastic deflection by computing the joints torque that position the end effecter of multi-link flexible robot along prescribed trajectory. Simulation's results show the effectiveness of the control scheme when gravitational force exists and how it is succeeded in reducing the end-point vibration during trajectory tracking and after reaching the desired position.