Experimental Investigation of a Flexible Manipulator with General Motions

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The primary goal of the research is to bridge the gap between the growing body of theoretical research and basic knowledge of how flexible systems respond. A general modeling technique based on "assumed modes" is investigated which is general enough to take input from a wide variety of sources. Control laws will be synthesized using classical and modern design approaches to damp the vibrations and precisely control the motions of the flexible system. The technique of "balanced realization" will be investigated as a tool for estimating the required sizes of dynamic models. Simulations and real time experiments will examine the accuracy of the dynamic models and performance of the control strategies.