A Track Fuzzy Control of Robot Manipulator with Elastic Links

  • Nguyen Hoang MaiEmail author
  • Pham Anh Tuan
Conference paper
Part of the Lecture Notes in Networks and Systems book series (LNNS, volume 69)


The problem of robot control with regard to elasticity of the arms is very meaningful to the reality. It enables the saving of fabrication materials, maximizes the machine’s bearing capacity while maintaining precise control and protects the arms from mechanical damage. So there are many studies on this mode of control. This is a strong nonlinear object, so it should describe the elastic arm exactly. This article presents a method of control elastic robot links with fractional model. Use fuzzy controller combined with PID to compensate elasticity. The simulation results confirm the correctness of the method.


Robot arm Elastic robot link PID controller Fractional model Fuzzy control Elastic arm Deformation link 


  1. 1.
    Subudhi, B., Morris, A.S.: Dynamic modeling, simulation and control of a manipulator with flexible links and joints. Department of Automatic Control & Systems Engineering. University of Sheffield, Sheffield, UK, 17 July 2002Google Scholar
  2. 2.
    Chen, K.-Y., et al.: A self-tuning fuzzy PID-type controller design for unbalancing compensation in an active magnetic bearing. Expert Syst. Appl. (2009). Scholar
  3. 3.
    Alvarez-Ramirez, J., Cervantes, I.: PID regulation of robot manipulators with elastic joint. Asian J. Control 5(1), 32–38 (2003)CrossRefGoogle Scholar
  4. 4.
    Bottega, V., Pergher, R., Fonseca, J.S.O.: Simultaneous control and piezoelectric insert optimization for manipulators with flexible link. J. Braz. Soc. Mech. Sci. Eng 31(2), 105 (2009)CrossRefGoogle Scholar
  5. 5.
    Oh, C.: Modeling and control of a two-arm elastic robot in gravity. Retrospective thesis and Dissertations, Paper 9402 (1990)Google Scholar
  6. 6.
    Moberg, S.: Modeling and control of flexible manipulators. Department of Electrical Engineering, Linköping University, Linköping, Sweden (2010)Google Scholar
  7. 7.
    Rocco, P., BOOK, W.J.: Modeling for two-time scale force position control of flexible robots. Dipartimento di Elettronica e Informazione Politecnico di MilanoGoogle Scholar
  8. 8.
    Spong, M.W.: Control of flexible joint robots. University of Illinois at Urbana-Champaign, February 1990Google Scholar
  9. 9.
    Cannon Jr., R.H., Schmitz, E.: Initial experiments on the end-point control of a flexible one-link robot. Int. J. Robotics Res. 3(3), 62–75 (1984)CrossRefGoogle Scholar
  10. 10.
    Book, W.J.: Modeling, design and control of flexible manipulators arms: status and trends. In: NASA Conference on Space Telerobotics, vol. 3, pp. 1–24 (1989)Google Scholar
  11. 11.
    Bayo, E., Serna, M.A.: Penalty formulation for the dynamic analysis of elastic mechanisms. J. Mech. Transm. Autom. Des. 111(3), 321–327 (1989)CrossRefGoogle Scholar
  12. 12.
    Biswas, S.K., Klafter, R.D.: Dynamic modeling and optima control of a flexible robotic manipulators. In: 1988 IEEE International Conference on Robotics and Automation, vol. 1, pp. 15–20 (1988)Google Scholar
  13. 13.
    Chevallereau, C., Aoustin, Y.: Non-linear control laws for a two flexible-link robot: comparison of applicability domains. In: 1992 IEEE International Conference on Robotics and Automation, no. 2, pp. 748–753 (1992)Google Scholar
  14. 14.
    Kwon, D.S., Book, W.J.: An inverse dynamic method yielding flexible manipulator state trajectories. In: American Control Conference, San Diego, California (1990)Google Scholar

Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  1. 1.Danang University of Science and TechnologyDanang CityVietnam
  2. 2.Daklak Vocational CollegesBuon Ma ThuotVietnam

Personalised recommendations