Data-Driven Modeling of a Two-Link Flexible Manipulator (TLFM)

Abstract

Flexible manipulators have the potential to be used in different application domains, such as space exploration, construction field, medical field, etc. The merit of flexible manipulators over their rigid counterparts includes lightweight or slenderness of links, low energy consumption, high operational speed, transportability, maneuverability, and low cost. Nevertheless, developing the model of a flexible manipulator is a challenging task because of the elasticity introduced by the links. The existing theoretical modeling techniques such as Finite Element Method (FEM), Assumed Mode Method (AMM) and Finite Difference Method (FDM) are mathematically complex, and they do not accurately match the physical system dynamics. Data-driven models, unlike the theoretical models, have no mathematical complexities and can give a more accurate model, capturing the dynamic behaviors of the system, with little or no simplifying assumptions. Hence, this paper presents an overview of the existing models, the challenges/drawbacks of each and the process involved in the development of the Data-Driven Models (DDMs) of a two-link flexible manipulator (TLFM). A Linear Data-Driven Model (LDDM) is developed and the performance is compared with other modeling techniques based on its impact to facilitate control behavior through simulation and validated that experimentally using Quanser 2- DoF Serial Flexible Link Manipulator (2DSFLM).