This thesis deals with modelling and control of flexible mechatronic systems. The flexible
mechatronic systems under consideration are a spatial L-shape flexible mechanism and a cable
driven parallel robot. Deformation of these mechatronic systems, which contain flexible parts,
effect the behaviour of the whole mechatronic system. A finite element model, based on the
equivalent rigid link system (ERLS) theory, is used in order to describe accurately the dynamic
behaviour of the flexible mechanism. The Feriba-3 which is 3-DOF planar robot for description
of cable driven robot is considered as a benchmark.
The model of the flexible mechanism has been validated through the experimental tests in order
to apply the linear quadratic (LQ) optimal controller, the constrained model predictive control
(MPC), the robust control based on H ∞ loop shaping and μ-Synthesis and the hybrid
position/force control for both position control and vibration damping in a spatial flexible L-
shape mechanism and to regulate the external force applied to the mechanism as well with taking
gravity force into account. In the purpose of applying linear quadratic (LQ) optimal controller on
cable-driven parallel robots the kinematic equations of the system are developed.
The synthesis of the controllers, used in this work for both spatial L-shape flexible mechanism
and cable driven parallel robot, are described and the most important experimental results are
presented and discussed
