Precise tip positioning of a flexible manipulator using resonant control

Mahmood, Iskandar Al-Thani and Moheimani, S. O. Reza and Bhikkaji, Bharath (2008) Precise tip positioning of a flexible manipulator using resonant control. IEEE/ASME Transactions on Mechatronics, 13 (2). 180 -186. ISSN 1083-4435

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Abstract

A single-link flexible manipulator is fabricated to represent a typical flexible robotic arm. This flexible manipulator is modeled as an 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, and the resonant modes are determined. 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 implemented to achieve zero steady-state error in the tip position response. Experiments are performed to demonstrate the effectiveness of the proposed control scheme.

Item Type:	Article (Journal)
Additional Information:	3614/5212
Uncontrolled Keywords:	SIMO system;feedback loop;flexible robotic arm;frequency-domain system identification method;high-gain integral controller;precise tip positioning;resonant control;single-link flexible manipulator;flexible manipulators;position control;
Subjects:	Q Science > Q Science (General) T Technology > TJ Mechanical engineering and machinery > TJ212 Control engineering
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User:	Dr. Iskandar Al-Thani bin Mahmood
Date Deposited:	11 Jun 2012 13:47
Last Modified:	11 Jun 2012 13:47
URI:	http://irep.iium.edu.my/id/eprint/5212

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