Techniques of Vibration And End-Point Trajectory Control of Flexible Manipulator
This paper presents investigations into the development of control schemes for end-point vibration suppression and input trajectory of a flexible manipulator. A constrained planar single- link flexible manipulator is considered and the dynamic model of the system is derived using the assumed...
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| Format: | Conference or Workshop Item |
| Language: | en |
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2009
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| Online Access: | http://umpir.ump.edu.my/id/eprint/2455/1/ISMA%2709_62649.pdf http://umpir.ump.edu.my/id/eprint/2455/ |
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| _version_ | 1831521210012270592 |
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| author | Mohd Ashraf, Ahmad Zaharuddin, Mohamed |
| author_facet | Mohd Ashraf, Ahmad Zaharuddin, Mohamed |
| author_sort | Mohd Ashraf, Ahmad |
| building | UMPSA Library |
| collection | Institutional Repository |
| content_provider | Universiti Malaysia Pahang Al-Sultan Abdullah |
| content_source | UMPSA Institutional Repository |
| continent | Asia |
| country | Malaysia |
| description | This paper presents investigations into the development of
control schemes for end-point vibration suppression and input
trajectory of a flexible manipulator. A constrained planar single-
link flexible 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 Linear Quadratic
Regulator (LQR) 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 feedforward controller, the positive input shapers 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 time
response specifications. Finally, a comparative assessment of the
control techniques is presented and discussed. |
| format | Conference or Workshop Item |
| id | my.ump.umpir.2455 |
| institution | Universiti Malaysia Pahang |
| language | en |
| publishDate | 2009 |
| record_format | eprints |
| spelling | my.ump.umpir.24552018-02-07T00:47:27Z http://umpir.ump.edu.my/id/eprint/2455/ Techniques of Vibration And End-Point Trajectory Control of Flexible Manipulator Mohd Ashraf, Ahmad Zaharuddin, Mohamed TK Electrical engineering. Electronics Nuclear engineering This paper presents investigations into the development of control schemes for end-point vibration suppression and input trajectory of a flexible manipulator. A constrained planar single- link flexible 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 Linear Quadratic Regulator (LQR) 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 feedforward controller, the positive input shapers 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 time response specifications. 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/2455/1/ISMA%2709_62649.pdf Mohd Ashraf, Ahmad and Zaharuddin, Mohamed (2009) Techniques of Vibration And End-Point Trajectory Control of Flexible Manipulator. In: 6th International Symposium on Mechatronics and its Applications, ISMA 2009 , 23-26 March 2009 , Sharjah. pp. 1-6.. (Published) |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Mohd Ashraf, Ahmad Zaharuddin, Mohamed Techniques of Vibration And End-Point Trajectory Control of Flexible Manipulator |
| title | Techniques of Vibration And End-Point Trajectory
Control of Flexible Manipulator
|
| title_full | Techniques of Vibration And End-Point Trajectory
Control of Flexible Manipulator
|
| title_fullStr | Techniques of Vibration And End-Point Trajectory
Control of Flexible Manipulator
|
| title_full_unstemmed | Techniques of Vibration And End-Point Trajectory
Control of Flexible Manipulator
|
| title_short | Techniques of Vibration And End-Point Trajectory
Control of Flexible Manipulator
|
| title_sort | techniques of vibration and end-point trajectory
control of flexible manipulator |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://umpir.ump.edu.my/id/eprint/2455/1/ISMA%2709_62649.pdf http://umpir.ump.edu.my/id/eprint/2455/ |
| url_provider | http://umpir.ump.edu.my/ |