Non-collocated Fuzzy Logic and Input Shaping Control Strategy for Elastic Joint Manipulator: Vibration Suppression and Time Response Analysis

• Main Author: Mohd Ashraf, Ahmad
• Format: Conference or Workshop Item
• Language: English
• Published: 2010
• Subjects: TJ Mechanical engineering and machinery
• Online Access: http://umpir.ump.edu.my/id/eprint/2037/1/Non-collocated_Fuzzy_Logic_and_Input_Shaping_Control_Strategy_for_Elastic_Joint_Manipulator__Vibration_Suppression_and_Time_Response_Analysis.pdf; http://umpir.ump.edu.my/id/eprint/2037/

Conventional model-based control strategies are very complex and difficult to synthesize due to high complexity of the dynamics of robots manipulator considering joint elasticity. This paper presents investigations into the development of hybrid control schemes for trajectory tracking and vibrat...