Dynamic Modelling and State-Feedback Control of a Rotational Base Flexible Link Manipulator

Authors

  • Suklabaidya S Department of Electrical Engineering, National Institute of Technology, Silchar, Assam,788010 India
  • Lochan K Department of Electrical Engineering, National Institute of Technology, Silchar, Assam,788010 India
  • Binoy K. R. Department of Electrical Engineering, National Institute of Technology, Silchar, Assam,788010 India

DOI:

https://doi.org/10.37591/joedt.v5i3.4873

Abstract

In this paper, dynamic modelling of single-link flexible robot manipulator is presented using lumped parameter method in a different approach. Model is simulated using MATLAB/ SIMULINK. State feedback controller is used to control the hub angle and tip deflection. Effectiveness of the controller is shown with different payload. State feedback using pole-placement; work satisfactorily with the change in the feedback gain matrix.

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Published

2020-12-29

Issue

Vol. 5 No. 3 (2014)

Section

RESEARCH ARTICLES