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Computed torque and velocity feedback control of cooperative manipulators handling a flexible beam

Handling a flexible object is more complicated than a rigid one since it involves the vibration of the object. Since vibration is known to lead to disturbance, discomfort, damage, and destruction; it needs to be suppressed. The system consists of two cooperative manipulators handling a flexible beam...

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Main Authors: Samewoi, Abdul Rahman, Zainul Azlan, Norsinnira, Khan, Md Rasiuddin, Yamaura, Hiroshi
Format: Article
Language:English
English
Published: Universiti Malaysia Perlis 2020
Subjects:
TJ Mechanical engineering and machinery
Online Access:http://irep.iium.edu.my/85222/7/85222_Computed%20Torque%20and%20Velocity%20Feedback.pdf
http://irep.iium.edu.my/85222/8/85222_Computed%20Torque%20and%20Velocity%20Feedback_Scopus.pdf
http://irep.iium.edu.my/85222/
https://ijneam.unimap.edu.my/images/PDF/IJNEAM%20SPECIAL%20ISSUE%20MEI%202020/Vol_13_SI_Mei2020_17-34.pdf
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spelling my.iium.irep.852222021-01-05T03:18:25Z http://irep.iium.edu.my/85222/ Computed torque and velocity feedback control of cooperative manipulators handling a flexible beam Samewoi, Abdul Rahman Zainul Azlan, Norsinnira Khan, Md Rasiuddin Yamaura, Hiroshi TJ Mechanical engineering and machinery Handling a flexible object is more complicated than a rigid one since it involves the vibration of the object. Since vibration is known to lead to disturbance, discomfort, damage, and destruction; it needs to be suppressed. The system consists of two cooperative manipulators handling a flexible beam that is modelled in partial differential equation (PDE) form and employed a singular perturbation method to model the slow and fast subsystems. This paper presents a composite control comprising of the computed torque control (CTC) scheme for the slow subsystem and a velocity feedback control (VFC) for the fast subsystem that was developed based on the PDE model form so that two cooperative manipulators track the desired trajectories while suppressing the transverse vibrations of the beam. A stability analysis was carried out for each subsystem to satisfy Tikhonov’s Theorem. The simulation results for slow subsystem showed that the tracking of positions and orientation have been achieved within 0.5 s with the root-mean-square error (RMSE) values of 0.002745 m, 0.02292 m, and 0.01563 rad for X-direction, Y-direction and the orientation, respectively. For the fast subsystem, the transverse vibration of the beam is completely suppressed within 0.8 s. The results proved that the proposed controller has worked well with the PDE model of cooperative manipulators to handle the flexible beam while suppressing its vibration. Universiti Malaysia Perlis 2020-05 Article PeerReviewed application/pdf en http://irep.iium.edu.my/85222/7/85222_Computed%20Torque%20and%20Velocity%20Feedback.pdf application/pdf en http://irep.iium.edu.my/85222/8/85222_Computed%20Torque%20and%20Velocity%20Feedback_Scopus.pdf Samewoi, Abdul Rahman and Zainul Azlan, Norsinnira and Khan, Md Rasiuddin and Yamaura, Hiroshi (2020) Computed torque and velocity feedback control of cooperative manipulators handling a flexible beam. International Journal of Nanoelectronics and Materials, 13 (Special Issue). pp. 17-34. ISSN 1985-5761 E-ISSN 1997 - 4434 https://ijneam.unimap.edu.my/images/PDF/IJNEAM%20SPECIAL%20ISSUE%20MEI%202020/Vol_13_SI_Mei2020_17-34.pdf
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
English
topic TJ Mechanical engineering and machinery
spellingShingle TJ Mechanical engineering and machinery
Samewoi, Abdul Rahman
Zainul Azlan, Norsinnira
Khan, Md Rasiuddin
Yamaura, Hiroshi
Computed torque and velocity feedback control of cooperative manipulators handling a flexible beam
description Handling a flexible object is more complicated than a rigid one since it involves the vibration of the object. Since vibration is known to lead to disturbance, discomfort, damage, and destruction; it needs to be suppressed. The system consists of two cooperative manipulators handling a flexible beam that is modelled in partial differential equation (PDE) form and employed a singular perturbation method to model the slow and fast subsystems. This paper presents a composite control comprising of the computed torque control (CTC) scheme for the slow subsystem and a velocity feedback control (VFC) for the fast subsystem that was developed based on the PDE model form so that two cooperative manipulators track the desired trajectories while suppressing the transverse vibrations of the beam. A stability analysis was carried out for each subsystem to satisfy Tikhonov’s Theorem. The simulation results for slow subsystem showed that the tracking of positions and orientation have been achieved within 0.5 s with the root-mean-square error (RMSE) values of 0.002745 m, 0.02292 m, and 0.01563 rad for X-direction, Y-direction and the orientation, respectively. For the fast subsystem, the transverse vibration of the beam is completely suppressed within 0.8 s. The results proved that the proposed controller has worked well with the PDE model of cooperative manipulators to handle the flexible beam while suppressing its vibration.
format Article
author Samewoi, Abdul Rahman
Zainul Azlan, Norsinnira
Khan, Md Rasiuddin
Yamaura, Hiroshi
author_facet Samewoi, Abdul Rahman
Zainul Azlan, Norsinnira
Khan, Md Rasiuddin
Yamaura, Hiroshi
author_sort Samewoi, Abdul Rahman
title Computed torque and velocity feedback control of cooperative manipulators handling a flexible beam
title_short Computed torque and velocity feedback control of cooperative manipulators handling a flexible beam
title_full Computed torque and velocity feedback control of cooperative manipulators handling a flexible beam
title_fullStr Computed torque and velocity feedback control of cooperative manipulators handling a flexible beam
title_full_unstemmed Computed torque and velocity feedback control of cooperative manipulators handling a flexible beam
title_sort computed torque and velocity feedback control of cooperative manipulators handling a flexible beam
publisher Universiti Malaysia Perlis
publishDate 2020
url http://irep.iium.edu.my/85222/7/85222_Computed%20Torque%20and%20Velocity%20Feedback.pdf
http://irep.iium.edu.my/85222/8/85222_Computed%20Torque%20and%20Velocity%20Feedback_Scopus.pdf
http://irep.iium.edu.my/85222/
https://ijneam.unimap.edu.my/images/PDF/IJNEAM%20SPECIAL%20ISSUE%20MEI%202020/Vol_13_SI_Mei2020_17-34.pdf
_version_ 1688547738841513984
score 13.211869

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