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Resonant control of a single-link flexible manipulator

This paper presents resonant control of a single-link flexible manipulator based on the resonant modes frequencies of the system. A flexible manipulator system is a single-input multi-output (SIMO) system with motor torque as an input and hub angle and the tip deflection as outputs. The previous sys...

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Main Authors: Fulazzaky, Mohamad Ali, Md. Din, Mohd. Fadhil, Mohd. Yusoff, Abdull Rahim, Khamidun, Mohd. Hairul
Format: Article
Published: Penerbit UTM Press 2014
Subjects:
TK Electrical engineering. Electronics Nuclear engineering
Online Access:http://eprints.utm.my/id/eprint/62457/
http://dx.doi.org/10.11113/jt.v67.2840
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spelling my.utm.624572017-11-01T04:17:08Z http://eprints.utm.my/id/eprint/62457/ Resonant control of a single-link flexible manipulator Fulazzaky, Mohamad Ali Md. Din, Mohd. Fadhil Mohd. Yusoff, Abdull Rahim Khamidun, Mohd. Hairul TK Electrical engineering. Electronics Nuclear engineering This paper presents resonant control of a single-link flexible manipulator based on the resonant modes frequencies of the system. A flexible manipulator system is a single-input multi-output (SIMO) system with motor torque as an input and hub angle and the tip deflection as outputs. The previous system which is modeled using the finite element method is considered, and the resonant modes of the system are determined. Two negative feedback controllers are used to control the system. The inner feedback control loop designed using the resonant frequencies adds damping to the system and suppress the vibration effect around the hub angle. For the outer feedback control loop, a proportional integral controller is designed to achieve a zero steady state error so that a precise tip positioning can be achieved. Simulation results are presented and discussed to show the effectiveness of the resonant control scheme. Penerbit UTM Press 2014 Article PeerReviewed Fulazzaky, Mohamad Ali and Md. Din, Mohd. Fadhil and Mohd. Yusoff, Abdull Rahim and Khamidun, Mohd. Hairul (2014) Resonant control of a single-link flexible manipulator. Jurnal Teknologi (Sciences and Engineering), 67 (5). pp. 35-39. ISSN 0127-9696 http://dx.doi.org/10.11113/jt.v67.2840 DOI:10.11113/jt.v67.2840
institution Universiti Teknologi Malaysia
building UTM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknologi Malaysia
content_source UTM Institutional Repository
url_provider http://eprints.utm.my/
topic TK Electrical engineering. Electronics Nuclear engineering
spellingShingle TK Electrical engineering. Electronics Nuclear engineering
Fulazzaky, Mohamad Ali
Md. Din, Mohd. Fadhil
Mohd. Yusoff, Abdull Rahim
Khamidun, Mohd. Hairul
Resonant control of a single-link flexible manipulator
description This paper presents resonant control of a single-link flexible manipulator based on the resonant modes frequencies of the system. A flexible manipulator system is a single-input multi-output (SIMO) system with motor torque as an input and hub angle and the tip deflection as outputs. The previous system which is modeled using the finite element method is considered, and the resonant modes of the system are determined. Two negative feedback controllers are used to control the system. The inner feedback control loop designed using the resonant frequencies adds damping to the system and suppress the vibration effect around the hub angle. For the outer feedback control loop, a proportional integral controller is designed to achieve a zero steady state error so that a precise tip positioning can be achieved. Simulation results are presented and discussed to show the effectiveness of the resonant control scheme.
format Article
author Fulazzaky, Mohamad Ali
Md. Din, Mohd. Fadhil
Mohd. Yusoff, Abdull Rahim
Khamidun, Mohd. Hairul
author_facet Fulazzaky, Mohamad Ali
Md. Din, Mohd. Fadhil
Mohd. Yusoff, Abdull Rahim
Khamidun, Mohd. Hairul
author_sort Fulazzaky, Mohamad Ali
title Resonant control of a single-link flexible manipulator
title_short Resonant control of a single-link flexible manipulator
title_full Resonant control of a single-link flexible manipulator
title_fullStr Resonant control of a single-link flexible manipulator
title_full_unstemmed Resonant control of a single-link flexible manipulator
title_sort resonant control of a single-link flexible manipulator
publisher Penerbit UTM Press
publishDate 2014
url http://eprints.utm.my/id/eprint/62457/
http://dx.doi.org/10.11113/jt.v67.2840
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score 13.211869

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