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Modeling and control of a multi degree of freedom flexible joint manipulator

—The paper describes the model of a two flexible joint manipulator and the development of a nonlinear passivity based control method for that model. For dynamic modeling, the Euler-Language approach is selected to model flexible joint manipulator. Since lightweight materials are employed in...

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Main Authors: Akhtaruzzaman, Md., Akmeliawati, Rini, Teh, Wai Yee
Format: Conference or Workshop Item
Language:English
Published: 2009
Subjects:
TJ212 Control engineering
Online Access:http://irep.iium.edu.my/5392/1/ICCEE2009.pdf
http://irep.iium.edu.my/5392/
http://dx.doi.org/10.1109/ICCEE.2009.100
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spelling my.iium.irep.53922012-01-25T00:23:47Z http://irep.iium.edu.my/5392/ Modeling and control of a multi degree of freedom flexible joint manipulator Akhtaruzzaman, Md. Akmeliawati, Rini Teh, Wai Yee TJ212 Control engineering —The paper describes the model of a two flexible joint manipulator and the development of a nonlinear passivity based control method for that model. For dynamic modeling, the Euler-Language approach is selected to model flexible joint manipulator. Since lightweight materials are employed in the construction of manipulator, the assumption that negligible link deformation no longer applies. A nonlinear passivitybased control method for rigid flexible joint as well as flexible link is proposed here. The main idea of Passivity Based Controller (PBC) is to use energy state of a system to provide stabilization. The PBC is developed to achieve two goals: set point regulation and trajectory tracking. The controller brings the end point from unstable position to a certain stable position. Beside that, the controller are developed to control the position of there end-point in such a way that it tracks the desired trajectory which are tested by simulations. 2009-01-15 Conference or Workshop Item REM application/pdf en http://irep.iium.edu.my/5392/1/ICCEE2009.pdf Akhtaruzzaman, Md. and Akmeliawati, Rini and Teh, Wai Yee (2009) Modeling and control of a multi degree of freedom flexible joint manipulator. In: 2009 2nd International Conference on Computer and Electrical Engineering (ICCEE), 28 - 30 December 2009, Dubai, UAE. http://dx.doi.org/10.1109/ICCEE.2009.100 doi:10.1109/ICCEE.2009.100
institution Universiti Islam Antarabangsa Malaysia
building IIUM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider International Islamic University Malaysia
content_source IIUM Repository (IREP)
url_provider http://irep.iium.edu.my/
language English
topic TJ212 Control engineering
spellingShingle TJ212 Control engineering
Akhtaruzzaman, Md.
Akmeliawati, Rini
Teh, Wai Yee
Modeling and control of a multi degree of freedom flexible joint manipulator
description —The paper describes the model of a two flexible joint manipulator and the development of a nonlinear passivity based control method for that model. For dynamic modeling, the Euler-Language approach is selected to model flexible joint manipulator. Since lightweight materials are employed in the construction of manipulator, the assumption that negligible link deformation no longer applies. A nonlinear passivitybased control method for rigid flexible joint as well as flexible link is proposed here. The main idea of Passivity Based Controller (PBC) is to use energy state of a system to provide stabilization. The PBC is developed to achieve two goals: set point regulation and trajectory tracking. The controller brings the end point from unstable position to a certain stable position. Beside that, the controller are developed to control the position of there end-point in such a way that it tracks the desired trajectory which are tested by simulations.
format Conference or Workshop Item
author Akhtaruzzaman, Md.
Akmeliawati, Rini
Teh, Wai Yee
author_facet Akhtaruzzaman, Md.
Akmeliawati, Rini
Teh, Wai Yee
author_sort Akhtaruzzaman, Md.
title Modeling and control of a multi degree of freedom flexible joint manipulator
title_short Modeling and control of a multi degree of freedom flexible joint manipulator
title_full Modeling and control of a multi degree of freedom flexible joint manipulator
title_fullStr Modeling and control of a multi degree of freedom flexible joint manipulator
title_full_unstemmed Modeling and control of a multi degree of freedom flexible joint manipulator
title_sort modeling and control of a multi degree of freedom flexible joint manipulator
publishDate 2009
url http://irep.iium.edu.my/5392/1/ICCEE2009.pdf
http://irep.iium.edu.my/5392/
http://dx.doi.org/10.1109/ICCEE.2009.100
_version_ 1643605532127264768
score 13.211869

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