Modified PID Control of a Single-Link Flexible Robot
This paper focuses on the end-point control of a single flexible link which rotates in the horizontal plane. The dynamic model is derived using a Lagrangian assumed modes method based on Euler–Bernoulli beam theory. Initially the system is modeled as a voltage-input model, and different controllers were applied to control the system. The position and trajectory control is performed by PID control methods for this system. The purpose of this study is to keep the rotate angle of the link at desired position and to eliminate the oscillation angle of end effectors. The results were produced for mode 1 and mode 2 operation. The control blocks required for this system are performed on MATLAB – SIMULINK. The simulated results of the system based on PID controller are quite satisfactory.