NONLINEAR COMPENSATION CONTROL OF A MANIPULATOR TIP ON A FLEXIBLE BODY

The objective of this paper is to apply the compensation method to control the tip position of a rigid manipulator on a class of main flexible uniform beams. Here, it is proposed to add a compensator at the connection joint between the manipulator and the beam, so that the manipulator can be rotated and also programmed to change its length during the period of the two-dimensional system maneuvers. The non-linear open-loop compensation control law for the space manipulator presented here is extended from the concept of linear compensation control. The exact compensatory correction matches both the linear and non-linear range of system maneuvers. The control law of the system is synthesized based on linear quadratic regulator techniques, in which the inertial torque and force generated by the compensator are considered. The significant results of numerical simulations show that the tip co-ordinates of the manipulator can be made to very closely follow the rigid beam motion which is assumed a desired motion, and that the tip vibration can be successfully suppressed.