Precise tip positioning of a flexible manipulator using resonant control
A single-link flexible manipulator is fabricated to represent a typical flexible robotic arm. This flexible manipulator is modeled as a SIMO system with the motor-torque as the input and the hub angle and the tip position as the outputs. The two transfer functions are identified using a frequency-do...
| Main Authors: | , , |
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| Format: | Proceeding Paper |
| Language: | English |
| Published: |
2007
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/5308/1/Precise_tip_positioning_of_a_flexible_manipulator_using_resonant_control.pdf |
| _version_ | 1796875240741011456 |
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| author | Mahmood, Iskandar Al-Thani Moheimani, S. O. Reza Bhikkaji, Bharath |
| author_facet | Mahmood, Iskandar Al-Thani Moheimani, S. O. Reza Bhikkaji, Bharath |
| author_sort | Mahmood, Iskandar Al-Thani |
| collection | IIUM |
| description | A single-link flexible manipulator is fabricated to represent a typical flexible robotic arm. This flexible manipulator is modeled as a SIMO system with the motor-torque as the input and the hub angle and the tip position as the outputs. The two transfer functions are identified using a frequency-domain system identification method. A feedback loop around the hub angle response with a resonant controller is designed to damp the resonant modes. A high gain integral controller is also designed to achieve zero steady-state error in the tip position response. Experiments are performed to demonstrate the effectiveness of the proposed control scheme. |
| first_indexed | 2024-03-05T22:35:55Z |
| format | Proceeding Paper |
| id | oai:generic.eprints.org:5308 |
| institution | International Islamic University Malaysia |
| language | English |
| last_indexed | 2024-03-05T22:35:55Z |
| publishDate | 2007 |
| record_format | dspace |
| spelling | oai:generic.eprints.org:53082012-06-11T05:51:30Z http://irep.iium.edu.my/5308/ Precise tip positioning of a flexible manipulator using resonant control Mahmood, Iskandar Al-Thani Moheimani, S. O. Reza Bhikkaji, Bharath Q Science (General) TJ212 Control engineering A single-link flexible manipulator is fabricated to represent a typical flexible robotic arm. This flexible manipulator is modeled as a SIMO system with the motor-torque as the input and the hub angle and the tip position as the outputs. The two transfer functions are identified using a frequency-domain system identification method. A feedback loop around the hub angle response with a resonant controller is designed to damp the resonant modes. A high gain integral controller is also designed to achieve zero steady-state error in the tip position response. Experiments are performed to demonstrate the effectiveness of the proposed control scheme. 2007-09 Proceeding Paper PeerReviewed application/pdf en http://irep.iium.edu.my/5308/1/Precise_tip_positioning_of_a_flexible_manipulator_using_resonant_control.pdf Mahmood, Iskandar Al-Thani and Moheimani, S. O. Reza and Bhikkaji, Bharath (2007) Precise tip positioning of a flexible manipulator using resonant control. In: IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2007, 4-7 September 2007, Zurich, Switzerland. |
| spellingShingle | Q Science (General) TJ212 Control engineering Mahmood, Iskandar Al-Thani Moheimani, S. O. Reza Bhikkaji, Bharath Precise tip positioning of a flexible manipulator using resonant control |
| title | Precise tip positioning of a flexible manipulator using resonant control |
| title_full | Precise tip positioning of a flexible manipulator using resonant control |
| title_fullStr | Precise tip positioning of a flexible manipulator using resonant control |
| title_full_unstemmed | Precise tip positioning of a flexible manipulator using resonant control |
| title_short | Precise tip positioning of a flexible manipulator using resonant control |
| title_sort | precise tip positioning of a flexible manipulator using resonant control |
| topic | Q Science (General) TJ212 Control engineering |
| url | http://irep.iium.edu.my/5308/1/Precise_tip_positioning_of_a_flexible_manipulator_using_resonant_control.pdf |
| work_keys_str_mv | AT mahmoodiskandaralthani precisetippositioningofaflexiblemanipulatorusingresonantcontrol AT moheimanisoreza precisetippositioningofaflexiblemanipulatorusingresonantcontrol AT bhikkajibharath precisetippositioningofaflexiblemanipulatorusingresonantcontrol |