Design and control of two-link flexible manipulators

2개의 유연한 링크를 갖는 매니퓰레이터의 설계 및 제어

In this paper, we propose a design method and control law for plannar type two-link flexible manipulator. In designing flexible links, we use Rayleigh's principle. To control flexible manipulator, input distribution controller is used, which is primarily on the basis of nonlinear variable structure control(VSC). The simulation results are also shown.