Control of double link flexible robotic manipulator system
Flexible manipulator is widely used in the implementation of industial robotic due to its advantages such as low weight, low power consumption, higher load capacity, high-speed operation, small actuators and low production costs. However, the position and speed of flexible manipulator system are ver...
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| Format: | Article |
| Language: | English |
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International Information and Engineering Technology Association
2022
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| Online Access: | http://umpir.ump.edu.my/id/eprint/40617/1/Control%20of%20double%20link%20flexible%20robotic%20manipulator%20system.pdf |
| _version_ | 1825815525341528064 |
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| author | Mohamad Iqhmannabil, Karim Azrul Azim, Abdullah Hashim Nor Maniha, Abdul Ghani |
| author_facet | Mohamad Iqhmannabil, Karim Azrul Azim, Abdullah Hashim Nor Maniha, Abdul Ghani |
| author_sort | Mohamad Iqhmannabil, Karim |
| collection | UMP |
| description | Flexible manipulator is widely used in the implementation of industial robotic due to its advantages such as low weight, low power consumption, higher load capacity, high-speed operation, small actuators and low production costs. However, the position and speed of flexible manipulator system are very difficult to control due to the tip vibration that result in degradation of performance. Modelling and control of a double-link flexible robot manipulator are presented in this study. Controlling the movement of a double-link manipulator, on the other hand, has proven to be a challenging task, especially when a flexible framework is used. Moreover, most double-link flexible manipulator system models are not developed based on real hardware. Hence, this project aims to develop a Solidworks design for double link flexible robotics manipulator (DLFRM) as well as a real hardware prototype. The control position performance of DLFRM was analyzed, and the controllers were tested on a hardware prototype. This project started with a simulation of both controllers, which are PID and FLC. The simulation was designed in Solidworks and exported to Simulink and then converted as Simscape. Then, the hardware for each controller was validated using the control parameter in the simulation. The joints for the robot manipulator were designed in Solidwork and built using 3D printing. |
| first_indexed | 2024-09-25T03:48:19Z |
| format | Article |
| id | UMPir40617 |
| institution | Universiti Malaysia Pahang |
| language | English |
| last_indexed | 2024-09-25T03:48:19Z |
| publishDate | 2022 |
| publisher | International Information and Engineering Technology Association |
| record_format | dspace |
| spelling | UMPir406172024-04-30T06:34:57Z http://umpir.ump.edu.my/id/eprint/40617/ Control of double link flexible robotic manipulator system Mohamad Iqhmannabil, Karim Azrul Azim, Abdullah Hashim Nor Maniha, Abdul Ghani T Technology (General) TA Engineering (General). Civil engineering (General) TK Electrical engineering. Electronics Nuclear engineering Flexible manipulator is widely used in the implementation of industial robotic due to its advantages such as low weight, low power consumption, higher load capacity, high-speed operation, small actuators and low production costs. However, the position and speed of flexible manipulator system are very difficult to control due to the tip vibration that result in degradation of performance. Modelling and control of a double-link flexible robot manipulator are presented in this study. Controlling the movement of a double-link manipulator, on the other hand, has proven to be a challenging task, especially when a flexible framework is used. Moreover, most double-link flexible manipulator system models are not developed based on real hardware. Hence, this project aims to develop a Solidworks design for double link flexible robotics manipulator (DLFRM) as well as a real hardware prototype. The control position performance of DLFRM was analyzed, and the controllers were tested on a hardware prototype. This project started with a simulation of both controllers, which are PID and FLC. The simulation was designed in Solidworks and exported to Simulink and then converted as Simscape. Then, the hardware for each controller was validated using the control parameter in the simulation. The joints for the robot manipulator were designed in Solidwork and built using 3D printing. International Information and Engineering Technology Association 2022-12 Article PeerReviewed pdf en cc_by_4 http://umpir.ump.edu.my/id/eprint/40617/1/Control%20of%20double%20link%20flexible%20robotic%20manipulator%20system.pdf Mohamad Iqhmannabil, Karim and Azrul Azim, Abdullah Hashim and Nor Maniha, Abdul Ghani (2022) Control of double link flexible robotic manipulator system. Journal Europeen des Systemes Automatises, 55 (6). pp. 759-763. ISSN 1269-6935. (Published) https://doi.org/10.18280/jesa.550607 https://doi.org/10.18280/jesa.550607 |
| spellingShingle | T Technology (General) TA Engineering (General). Civil engineering (General) TK Electrical engineering. Electronics Nuclear engineering Mohamad Iqhmannabil, Karim Azrul Azim, Abdullah Hashim Nor Maniha, Abdul Ghani Control of double link flexible robotic manipulator system |
| title | Control of double link flexible robotic manipulator system |
| title_full | Control of double link flexible robotic manipulator system |
| title_fullStr | Control of double link flexible robotic manipulator system |
| title_full_unstemmed | Control of double link flexible robotic manipulator system |
| title_short | Control of double link flexible robotic manipulator system |
| title_sort | control of double link flexible robotic manipulator system |
| topic | T Technology (General) TA Engineering (General). Civil engineering (General) TK Electrical engineering. Electronics Nuclear engineering |
| url | http://umpir.ump.edu.my/id/eprint/40617/1/Control%20of%20double%20link%20flexible%20robotic%20manipulator%20system.pdf |
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