Deschide documentul
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Informaţii generale |
| Autor |
Ahmad, Mohd Ashraf; Tumari, Mohd Zaidi Mohd; Nasir, Ahmad Nor Kasruddin |
| Publicat |
InTech Open Access Publisher, 2013
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| Ediţie |
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| Detaliază |
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| ISBN |
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| Abstract |
The raised complicatedness of the dynamics
of a robot manipulator considering joint elasticity
makes conventional model‐based control strategies
complex and hard to synthesize. This paper presents
investigations into the development of hybrid
intelligent control schemes for the trajectory tracking
and vibration control of a flexible joint manipulator. To
study the effectiveness of the controllers, a collocated
proportional‐derivative (PD)‐type Fuzzy Logic
Controller (FLC) is first developed for the tip angular
position control of a flexible joint manipulator. This is
then extended to incorporate a non‐collocated Fuzzy
Logic Controller, a non‐collocated proportionalintegral‐
derivative (PID) and an input‐shaping scheme
for the vibration reduction of the flexible joint system.
The positive zero‐vibration‐derivative‐derivative
(ZVDD) shaper is designed based on the properties of
the system. The implementation results of the response
of the flexible joint manipulator with the controllers
are presented in time and frequency domains. The
performances of the hybrid control schemes are
examined in terms of input tracking capability, level of
vibration reduction and time response specifications.
Finally, a comparative assessment of the control
techniques is presented and discussed. |
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International Journal of Advanced Robotic Systems
Autor: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Publicat: 2004
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