Cover Image

Comparison of Hybrid Control Schemes for Vibration Suppression of Flexible Robot Manipulator

This paper presents a comparative assessment of control schemes for vibration suppression and end-point trajectory tracking of a flexible robot manipulator. A constrained planar single-link flexible robot manipulator is considered and the dynamic model of the system is derived using the assumed mode...

Full description

Saved in:
Bibliographic Details
Main Authors: Mohd Ashraf, Ahmad, Raja Mohd Taufika, Raja Ismail, Mohd Syakirin, Ramli, Ahmad Nor Kasruddin, Nasir
Format: Conference or Workshop Item
Language:English
Published: 2009
Subjects:
TK Electrical engineering. Electronics Nuclear engineering
Online Access:http://umpir.ump.edu.my/id/eprint/2453/1/ICCMS_2009.pdf
http://umpir.ump.edu.my/id/eprint/2453/
Tags: Add Tag
No Tags, Be the first to tag this record!
id my.ump.umpir.2453
record_format eprints
spelling my.ump.umpir.24532018-02-06T07:44:14Z http://umpir.ump.edu.my/id/eprint/2453/ Comparison of Hybrid Control Schemes for Vibration Suppression of Flexible Robot Manipulator Mohd Ashraf, Ahmad Raja Mohd Taufika, Raja Ismail Mohd Syakirin, Ramli Ahmad Nor Kasruddin, Nasir TK Electrical engineering. Electronics Nuclear engineering This paper presents a comparative assessment of control schemes for vibration suppression and end-point trajectory tracking of a flexible robot manipulator. A constrained planar single-link flexible robot manipulator is considered and the dynamic model of the system is derived using the assumed mode method. To study the effectiveness of the controllers, initially a collocated PD controller is developed for control of rigid body motion. This is then extended to incorporate a non-collocated PID controller and a feedforward controller based on input shaping techniques for control of vibration (flexible motion) of the system. For input shaping controller, the positive input shapers with different derivatives are proposed and designed based on the properties of the system. Simulation results of the response of the manipulator with the controllers are presented in time and frequency domains. The performances of the control schemes are assessed in terms of level of vibration reduction, input tracking capability and speed of response. Finally, a comparative assessment of the control techniques is presented and discussed. 2009 Conference or Workshop Item PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/2453/1/ICCMS_2009.pdf Mohd Ashraf, Ahmad and Raja Mohd Taufika, Raja Ismail and Mohd Syakirin, Ramli and Ahmad Nor Kasruddin, Nasir (2009) Comparison of Hybrid Control Schemes for Vibration Suppression of Flexible Robot Manipulator. In: International Conference on Computer Modeling and Simulation, ICCMS 2009, 20-22 Feb. 2009 , Macau. pp. 356-360..
institution Universiti Malaysia Pahang Al-Sultan Abdullah
building UMPSA Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaysia Pahang Al-Sultan Abdullah
content_source UMPSA Institutional Repository
url_provider http://umpir.ump.edu.my/
language English
topic TK Electrical engineering. Electronics Nuclear engineering
spellingShingle TK Electrical engineering. Electronics Nuclear engineering
Mohd Ashraf, Ahmad
Raja Mohd Taufika, Raja Ismail
Mohd Syakirin, Ramli
Ahmad Nor Kasruddin, Nasir
Comparison of Hybrid Control Schemes for Vibration Suppression of Flexible Robot Manipulator
description This paper presents a comparative assessment of control schemes for vibration suppression and end-point trajectory tracking of a flexible robot manipulator. A constrained planar single-link flexible robot manipulator is considered and the dynamic model of the system is derived using the assumed mode method. To study the effectiveness of the controllers, initially a collocated PD controller is developed for control of rigid body motion. This is then extended to incorporate a non-collocated PID controller and a feedforward controller based on input shaping techniques for control of vibration (flexible motion) of the system. For input shaping controller, the positive input shapers with different derivatives are proposed and designed based on the properties of the system. Simulation results of the response of the manipulator with the controllers are presented in time and frequency domains. The performances of the control schemes are assessed in terms of level of vibration reduction, input tracking capability and speed of response. Finally, a comparative assessment of the control techniques is presented and discussed.
format Conference or Workshop Item
author Mohd Ashraf, Ahmad
Raja Mohd Taufika, Raja Ismail
Mohd Syakirin, Ramli
Ahmad Nor Kasruddin, Nasir
author_facet Mohd Ashraf, Ahmad
Raja Mohd Taufika, Raja Ismail
Mohd Syakirin, Ramli
Ahmad Nor Kasruddin, Nasir
author_sort Mohd Ashraf, Ahmad
title Comparison of Hybrid Control Schemes for Vibration Suppression of Flexible Robot Manipulator
title_short Comparison of Hybrid Control Schemes for Vibration Suppression of Flexible Robot Manipulator
title_full Comparison of Hybrid Control Schemes for Vibration Suppression of Flexible Robot Manipulator
title_fullStr Comparison of Hybrid Control Schemes for Vibration Suppression of Flexible Robot Manipulator
title_full_unstemmed Comparison of Hybrid Control Schemes for Vibration Suppression of Flexible Robot Manipulator
title_sort comparison of hybrid control schemes for vibration suppression of flexible robot manipulator
publishDate 2009
url http://umpir.ump.edu.my/id/eprint/2453/1/ICCMS_2009.pdf
http://umpir.ump.edu.my/id/eprint/2453/
_version_ 1822915808047661056
score 13.244745

Similar Items