AUTOMATION AND CYBERNETICS - CONTROL OF A FLEXIBLE ONE-LINK MANIPULATOR

States that control is of the essence in cybernetics. Summarizes the d ynamic equations for a flexible one-link manipulator moving in the hor izontal plane. Employs the finite element method, based on elementary beam theory, during the process of formulation. Develops and instrumen ts a one-link flexible manipulator in order to control its vibration m odes. Uses a simple second-order vibration model which permits vibrati ons on the rod to be estimated using the hub angle. The validation of the dynamic model and the structural analysis of the flexible manipula tor is reached using proper infrared cameras and active light sources for determining actual positions of objects in space. Shows that the p erformance of the control is satisfactory, even under perturbation act ion.