Precise tip positioning of a flexible manipulator using resonant control

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.

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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 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.

Item Type:	Conference or Workshop Item (Full Paper)
Additional Information:	3614/5308
Uncontrolled Keywords:	SIMO system;feedback loop;flexible robotic arm;frequency-domain system identification method;high gain integral controller;hub angle;resonant controller design;single-link flexible manipulator;tip position response;transfer function;zero steady-state error;control system synthesis;feedback;flexible manipulators;frequency-domain analysis;position control;transfer functions;
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 13:51
Last Modified:	11 Jun 2012 13:51
URI:	http://irep.iium.edu.my/id/eprint/5308

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