Modeling and coordination control for master-slave flexible manipulators with bending-twisting deformation

A coordination control algorithm is presented to solve the angle coordination and vibration control problems of the master-slave flexible manipulators with bending-twisting deformation. Considering the effects of bending deformation and torsional deformation, the partial differential equation model of the flexible manipulators are established based on Hamilton principle. Through the coordination control strategy proposed in this paper, the master’s joint angle can track the ideal target angle and the joint angle of slave manipulator can track the master’s angle. In addition to angle tracking, the proposed controller can also reduce the vibration-induced elastic deformation of the manipulators. The closed-loop system can be proved to be exponentially stable via the Lyapunov direct method. Finally, simulation examples verify the satisfactory performance of the coordination control algorithm.