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Mathl. Comput. Modelling Vol. 27, No. 6, pp. 73-93, 1998
Pergamon Copyright@1998 Elsevier Science Ltd
Printed in Great Britain. All rights reserved
98 $19.00 + 0.00
PII:SO895-7177(98)00030-2
Mat hemat ical Modeling and Fuzzy
Control of a Flexible-Link Robot Arm
P. SOORAKSA* AND GUANRONGCHEN
Department of Electrical and Computer Engineering
University of Houston, Houston, TX 77004, U.S.A.
gchen@uh.edu
(Received and accepted July 1997)
Abstract-In this paper, the Timoshenkotheory is applied to investigate a new mathematical
model for the “shoulder-elbow-like” single flexible-link robot arm with dampings. Detailed analysis
and derivation are given to support the mathematical modeling of this particular flexible mechanism.
A new design of a fuzzy-logic-based (PI + D)2 control scheme is developed for both vibration suppres-
sion and set-point tracking. Computer simulation results for the modeling are performed to observe
the significant vibration modes, and simulation results for the control scheme demonstrate that the
controllers perform very well for the tracking based on this flexible-link m
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