Dynamic modelling of a single-link flexible manipulator: parametric and non-parametric approaches

Abstract

This paper presents an investigation into the development of parametric and non-parametric approaches for dynamic modelling of a flexible manipulator system. The least mean squares, recursive least squares and genetic algorithms are used to obtain linear parametric models of the system. Moreover, non-parametric models of the system are developed using a non-linear AutoRegressive process with eXogeneous input model structure with multi-layered perceptron and radial basis function neural networks. The system is in each case modelled from the input torque to hub-angle, hub-velocity and end-point acceleration outputs. The models are validated using several validation tests. Finally, a comparative assessment of the approaches used is presented and discussed in terms of accuracy, efficiency and estimation of the vibration modes of the system.