Development of a software package for a flexible link manipulator

The design of a controller for a flexible manipulator is a complicated task due to vibrations inherent in the manipulator. A software package is developed as a test-bed for such a task. The package assumes a Euler-Bernoulli beam carrying a payload, moving horizontally and is driven by a DC motor. It runs on the MATLAB platform with interactive user interfaces for the adjustment of beam and system parameters. Simulation results are displayed on screen and can be saved in disk files. A real-time animation is also included.