In this chapter, an analytical model of a single-link flexible manipulator, characterised by a set of infinite number of natural modes, is first developed. This is used to develop state-space and equivalent frequency domain models of the system. These models can further be used for controller design exercises. A case study exercise is presented, where an experimental flexible manipulator system is used for identifying model parameters. The model parameter identification procedure involves spectral analysis of collected input-output data from the experimental system. The identified parameters are then used with the developed model and the model response is verified with the experimental system.

Chapter Contents:

• 3.1 Introduction
• 3.2 Dynamic equations of the system
• 3.2.1 The flexible manipulator system
• 3.2.2 Energies associated with the system
• 3.2.3 The dynamic equations of motion
• 3.3 Mode shapes
• 3.4 State-space model
• 3.5 Transfer function model
• 3.6 Case study 3.1: experimentation
• 3.6.1 Natural frequencies
• 3.6.2 Damping ratios
• 3.6.3 Modal gain
• 3.6.4 Model validation
• 3.7 Summary

Inspec keywords: parameter estimation; flexible manipulators; spectral analysis

Other keywords: single-link flexible manipulator; spectral analysis; model parameter identification procedure; dynamic characterisation; flexible manipulator system; controller design

Subjects: Manipulators