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This paper deals with the development of an interactive and user-friendly environment for simulation and control of flexible manipulator systems. The paper extends the authors' previous work on a Matlab/Simulink based environment by upgrading this to version 6 of Matlab, incorporating further control approaches and developing a new graphical user interface (GUI) with flexible features. A finite difference simulation algorithm of a flexible manipulator is implemented within the Simulink environment. Open loop and closed loop control strategies of fixed and adaptive types are included. A user-friendly mouse driven GUI is incorporated for inputting physical parameters of the system and visualising the results after each simulation run. The environment can be used as a computer aided teaching facility and as well as a test-bed for evaluation and validation of newly designed controllers for flexible manipulator systems.