Comparison of Hybrid Control Schemes for Vibration Suppression of Flexible Robot Manipulator
This paper presents a comparative assessment of control schemes for vibration suppression and end-point trajectory tracking of a flexible robot manipulator. A constrained planar single-link flexible robot manipulator is considered and the dynamic model of the system is derived using the assumed mode...
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| Main Authors: | , , , |
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| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
2009
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| Subjects: | |
| Online Access: | http://umpir.ump.edu.my/id/eprint/2453/1/ICCMS_2009.pdf http://umpir.ump.edu.my/id/eprint/2453/ |
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| Summary: | This paper presents a comparative assessment of control schemes for vibration suppression and end-point trajectory tracking of a flexible robot manipulator. A constrained planar single-link flexible robot manipulator is considered and the dynamic model of the system is derived using the assumed mode method. To study the effectiveness of the controllers, initially a collocated PD controller is developed for control of rigid body motion. This is then extended to incorporate a non-collocated PID controller and a feedforward controller based on input shaping techniques for control of vibration (flexible motion) of the system. For input
shaping controller, the positive input shapers with
different derivatives are proposed and designed based on
the properties of the system. Simulation results of the
response of the manipulator with the controllers are
presented in time and frequency domains. The performances of the control schemes are assessed in terms of level of vibration reduction, input tracking capability and speed of response. Finally, a comparative assessment of the control techniques is presented and discussed. |
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