Abstract: A modelling approach for neuro-fuzzy control of a single-link flexible robot manipulator that uses a computer-aided design (CAD) program is proposed. Initially, a CAD model of the flexible link is created using experimentally determined values of system parameters. This CAD model is then exported to MATLAB software and the Simulink/ SimMechanics toolbox. An adaptive-network-based fuzzy logic controller is used for position and vibration control of the flexible link. Experimental and simulation results are presented that validate the proposed approach.

In this study, vibration analysis of an elastic robot arm sliding in a rotating prismatic joint is investigated. The elastic robot arm is assumed to carry a time varying end mass. The problem is a moving boundary value problem. The equations of motion of the elastic arm are obtained by using Lagrange’s equation of motion. Effect of rotary inertia, axial shortening and gravitation has been considered in developing the dynamic model. The equations of motion are obtained in the form of a set of ordinary differential equations by using admissible functions and the principle of separation of variables. Equations of motion are numerically solved by using the Runge–Kutta method. A computer program is developed for computer simulations. Numerical results of computer simulations for tip deflections are presented in graphical form. Physical trends of the obtained numerical results are discussed. Key words: elastic robot arm, prismatic joint, time varying end mass, vibration