Stability Analysis of a Flexible Two-Link Timoshenko Manipulator Using Boundary Control Method

Abstract

In this article, the stabilization problem of two flexible one-link and two-link manipulators is solved using boundary control method. To account for the flexibility of links, Timoshenko beam theory is adopted and using Lyapunov stability theorem, forces and torques necessary to be applied at the joints of the manipulators are calculated. Finally the problem of trajectory tracking for this robot is briefly discussed.