Azadeh Shariati - PhD Candidate of Mechanical Engineering, K.N. Toosi University of Technology
Ali Ghaffari - Professor of Mechanical Engineering, K.N. Toosi University of Technology
Amir H Shamekhi - Assistant Professor of Mechanical Engineering, K.N. Toosi University of Technology

Flexibility of robot links inevitably causes the elastic deflection and vibration of the endpoint of the robot during high-speed operations. The deflection and vibration will tend to degrade the positioning performance of the robot. In this paper a non-linear Lyapunov-type controller is applied to control the dynamics of a flexible SCARA robot, The Selective Complaint Articulated/Assembly Robot Arm. A mathematical model governing the dynamics of the flexible manipulator is derived using lumped masses and spring model. Control strategy based on the concept of non-linear Lyapunov-type controller is then proposed to damp the tip oscillations and regulate the end point of the flexible robot.

Lyapunov-type controller, Flexible Manipulator, lumped masses and spring model