Modeling and fuzzy control of flexible manipulator link with moving end effector

Abstract

Abstract In this paper, a flexible robotic arm system was designed and constructed based on the aspect ratio of flexible arms. The mathematical modeling was derived using finite element method. In addition, necessary information about the dynamic behavior of the suggested system was collected and used to design controllers based on knowledge of fuzzy logic theory. The purpose of building the flexible robotic arm was to perform different movements while ensure the accuracy of the derived mathematical dynamic model. This was achieved by comparing the experimental responses with theoretical ones where both systems were controlled through control strategies designed on the basis of fuzzy logics. The resulted control system is a 2-input, 1-output system. Different fuzzy controllers were suggested in addition to the non-conventional fuzzy control method (Fuzzy Control). This includes traditional-fuzzy control method with PID as well as PD controllers. The results showed that the error ratio between theoretical and practical responses does not exceed 16% in Fuzzy Control method and 11% in the PD-Fuzzy Control and 9% in the PID-Fuzzy Control method. This mismatch is due to the nonlinearities and friction effects between the different mechanical parts that have not be considered. In addition, the overshoot percentage also does not exceed 7% in the first and second methods and 8% in the third method. All outcomes are scientifically discussed and analyzed to obtain the best approach to design a high performance flexible robotic arm system.