Vibration Analysis of Single-Link Flexible Manipulator in an Uncertain Environment

PurposeThe real-time dynamics of the single-link flexible manipulator is a challenging problem due to its inherent instability and in situ vibration. In order to add the criticalities to these real-time dynamics, run-time vibration does play a pivotal role in designing a robust control system for the flexible robotic manipulator.MethodologyGoverning differential equations and the boundary conditions are usually considered exact of the single-link manipulator and the formulation leads to an Eigenvalue problem where the elements of the matrices are in exact form. Double parametric form has been used to solve the fuzzy differential equation.Results and ConclusionsIn this paper, a new idea has been introduced in the above problem for a representative single-link robotic manipulator considering the uncertainty in the associated parameter(s) in the governing differential equation, which may mimic the actual scenario of the real environment. The uncertainty has been considered in terms of a novel fuzzy model which agrees with the crisp case model too.