A simple method of tip trajectory control for the flexible multi-link manipulator with uncertain parameters

This paper studies the tip position trajectory tracking control of a flexible multi-link manipulator. A simple design method of controller is developed based on difference equation and least-mean-squares. Only position measurements are required in the control approach. If the sampling frequency is high enough, some uncertain terms that are difficult to characterize exactly, such as friction, gravity and Coriolis/centripetal terms, can be neglected directly, and the system performance can still be guaranteed. Digital simulation results presented for the flexible two-link manipulator shows that accurate trajectory tracking and vibration damping can be accomplished in the closed-loop system