A PID Controller with ANN Feedforward Design for Two-Links Flexible Manipulator

The elastic vibrations of two-link manipulators are decoupled from the flexible manipulator. A PID controller with ANN feed forward control is established for vertical planar two-links flexible manipulators. The asymptotically stability of joint trajectory tracking control are proved. The simulation results show that, the elastic vibrations of two links manipulator are restrained when the tip trajectory of manipulator is being traced with this method.