Modelling and simulation of a three-link spatial manipulator with one flexible link

This paper addresses a manipulator with rigid and flexible links and a payload at its tip. A model is developed that considers gravity and the coupling between the rigid body motion of the system and the bending deflection of the flexible link. A simulation study is carried out where a joint proportional-derivative (PD) controller and a fuzzy logic controller (FLC) are applied to the manipulator. The objective is to drive the joints of the manipulator toward a desired destination starting from arbitrary initial conditions while reducing the payload vibrations. The simulation study shows that the FLC is superior to the PD controller in handling manipulators with rigid and flexible links.