Computed torque and velocity feedback control of cooperative manipulators handling a flexible beam

Samewoi, Abdul Rahman and Zainul Azlan, Norsinnira and Khan, Md Rasiuddin and Yamaura, Hiroshi (2020) Computed torque and velocity feedback control of cooperative manipulators handling a flexible beam. International Journal of Nanoelectronics and Materials, 13 (Special Issue). pp. 17-34. ISSN 1985-5761 E-ISSN 1997 - 4434

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Abstract

Handling a flexible object is more complicated than a rigid one since it involves the vibration of the object. Since vibration is known to lead to disturbance, discomfort, damage, and destruction; it needs to be suppressed. The system consists of two cooperative manipulators handling a flexible beam that is modelled in partial differential equation (PDE) form and employed a singular perturbation method to model the slow and fast subsystems. This paper presents a composite control comprising of the computed torque control (CTC) scheme for the slow subsystem and a velocity feedback control (VFC) for the fast subsystem that was developed based on the PDE model form so that two cooperative manipulators track the desired trajectories while suppressing the transverse vibrations of the beam. A stability analysis was carried out for each subsystem to satisfy Tikhonov’s Theorem. The simulation results for slow subsystem showed that the tracking of positions and orientation have been achieved within 0.5 s with the root-mean-square error (RMSE) values of 0.002745 m, 0.02292 m, and 0.01563 rad for X-direction, Y-direction and the orientation, respectively. For the fast subsystem, the transverse vibration of the beam is completely suppressed within 0.8 s. The results proved that the proposed controller has worked well with the PDE model of cooperative manipulators to handle the flexible beam while suppressing its vibration.

Item Type:	Article (Journal)
Additional Information:	4494/85222
Uncontrolled Keywords:	Cooperative Manipulators, Flexible Beam, Singular Perturbation Method, Computed Torque Control, Slow-Fast Subsystems.
Subjects:	T Technology > TJ Mechanical engineering and machinery
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User:	Norsinnira Zainul Azlan
Date Deposited:	24 Nov 2020 17:42
Last Modified:	05 Jan 2021 11:18
URI:	http://irep.iium.edu.my/id/eprint/85222

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