A MRAC scheme to control lightweight flexible robot manipulators

A model reference adaptive control (MRAC) technique was used for controlling the dynamic performance of flexible arms. The parameters of a lightweight graphite laminate composite material were used in the case studies for the design of the flexible arm. The performance of the lightweight arm design was investigated by simulation. A motion trajectory emulating as close as possible the Gaussian acceleration trajectory profile was chosen to avoid unwanted perturbations in the overall system behavior that might lead to vibrations in the flexible link. A revolute joint flexible arm design was used in the case studies for a three-link lightweight flexible arm. An investigation into the performance of the lightweight flexible arms subjected to high velocity minimum-time trajectories and variations in payload was performed