Nonlinear modeling and control of a two-link hybrid manipulator

Abstract

The slew maneuver problem is studied for a robot manipulator consisting of a flexible first link and rigid second link. A nonlinear dynamical model is first derived using a Lagrangian formulation. A notch-filtered finite-time control law is then introduced to achieve fast and precise slewing maneuvers without residual vibrations. The results are applied to a benchmark two-link system and a simulation example is included to illustrate the effectiveness of the proposed control technique.