Modeling and control of a multi degree of freedom flexible joint manipulator

Akhtaruzzaman, Md. and Akmeliawati, Rini and Teh, Wai Yee (2009) Modeling and control of a multi degree of freedom flexible joint manipulator. In: 2009 2nd International Conference on Computer and Electrical Engineering (ICCEE), 28 - 30 December 2009, Dubai, UAE.

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Abstract

—The paper describes the model of a two flexible joint manipulator and the development of a nonlinear passivity based control method for that model. For dynamic modeling, the Euler-Language approach is selected to model flexible joint manipulator. Since lightweight materials are employed in the construction of manipulator, the assumption that negligible link deformation no longer applies. A nonlinear passivitybased control method for rigid flexible joint as well as flexible link is proposed here. The main idea of Passivity Based Controller (PBC) is to use energy state of a system to provide stabilization. The PBC is developed to achieve two goals: set point regulation and trajectory tracking. The controller brings the end point from unstable position to a certain stable position. Beside that, the controller are developed to control the position of there end-point in such a way that it tracks the desired trajectory which are tested by simulations.

Item Type:	Conference or Workshop Item (Full Paper)
Additional Information:	5806/5392 Print ISBN: 978-1-4244-5365-8 Digital Object Identifier: 10.1109/ICCEE.2009.100
Uncontrolled Keywords:	Euler Lagrange Equation , Flexible Joint manipulator , Flexible Link Manipulator , PBC , Passivity Based Control
Subjects:	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:	Prof. Dr. Rini Akmeliawati
Date Deposited:	13 Nov 2011 12:10
Last Modified:	25 Jan 2012 08:23
URI:	http://irep.iium.edu.my/id/eprint/5392

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