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Table 3 Parameter of flexible manipulator

From: Rotation Angle Control Strategy for Telescopic Flexible Manipulator Based on a Combination of Fuzzy Adjustment and RBF Neural Network

Parameters

Condition 1

Condition 2

Condition 3

Length of the fixed flexible manipulator l1(m)

2

2

2

Length of the axially translating arm l2(m)

0.5

1

2

Flexible manipulator’s length l(m)

2.5

3

4

Flexible manipulator mass m(kg)

1

1

1

Linear density of flexible manipulator ρA(kg/m2)

0.4

0.3333

0.25

Flexural rigidity of flexible manipulator EI(N∙m2)

500

500

500

Flexible manipulator inertia Jm(kg∙m2)

2.083

3

5.33

Modal coupling coefficient Fa1(kg1/2∙m)

1.42

1.7064

2.2752

Characteristic root of modal function β1

0.35

0.2916

0.46875

Damping coefficient of the poses

0.5

0.5

0.7

Controller parameters \(K_{p}\)

395

228

203

Controller parameters \(K_{d}\)

85

55

35