Precise tip positioning of a flexible manipulator using resonant control

• Main Authors: Mahmood, Iskandar Al-Thani, Moheimani, S. O. Reza, Bhikkaji, Bharath
• Format: Conference or Workshop Item
• Language: English
• Published: 2007
• Subjects: Q Science (General); TJ212 Control engineering
• Online Access: http://irep.iium.edu.my/5308/1/Precise_tip_positioning_of_a_flexible_manipulator_using_resonant_control.pdf; http://irep.iium.edu.my/5308/

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.