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Hybrid input shaping and PID control of a flexible robot manipulator

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Bibliographic Details
Main Authors: Mohd Ashraf, Ahmad, Zahar, Mohamed, Z. H., Ismail
Other Authors: mashraf@ump.edu.my.com
Format: Article
Language:English
Published: The Institution of Engineers, Malaysia 2011
Subjects:
Flexible manipulator
Input shaping
PID control
Vibration control
Online Access:http://dspace.unimap.edu.my/xmlui/handle/123456789/13681
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spelling my.unimap-136812011-09-07T19:19:00Z Hybrid input shaping and PID control of a flexible robot manipulator Mohd Ashraf, Ahmad Zahar, Mohamed Z. H., Ismail mashraf@ump.edu.my.com zahar@fke.utm.my Flexible manipulator Input shaping PID control Vibration control Link to publisher's homepage at http://www.myiem.org.my/ This paper presents experimental investigations into the development of hybrid input shaping and PID control for vibration suppression and input tracking of a flexible robot manipulator. Initially, a PID controller is developed for control of rigid-body motion of the system. This is then extended to incorporate a feedforward controller based on input shaping techniques for vibration control. Experimental results of the response of the manipulator with the controllers are presented in time and frequency domain. The effects of derivative order of the input shaper on the performance of the system are also investigated. The performances of the hybrid control schemes are assessed in terms of input tracking capability and level of vibration reduction in comparison to the PID control. Finally, a comparative assessment of the hybrid control schemes is presented. 2011-09-07T19:19:00Z 2011-09-07T19:19:00Z 2009-09 Article The Journal of the Institution of Engineers, Malaysia, vol. 72(3), 2009, pages 56-62 0126-513X http://www.myiem.org.my/content/iem_journal_2009-180.aspx http://hdl.handle.net/123456789/13681 en The Institution of Engineers, Malaysia
institution Universiti Malaysia Perlis
building UniMAP Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaysia Perlis
content_source UniMAP Library Digital Repository
url_provider http://dspace.unimap.edu.my/
language English
topic Flexible manipulator
Input shaping
PID control
Vibration control
spellingShingle Flexible manipulator
Input shaping
PID control
Vibration control
Mohd Ashraf, Ahmad
Zahar, Mohamed
Z. H., Ismail
Hybrid input shaping and PID control of a flexible robot manipulator
description Link to publisher's homepage at http://www.myiem.org.my/
author2 mashraf@ump.edu.my.com
author_facet mashraf@ump.edu.my.com
Mohd Ashraf, Ahmad
Zahar, Mohamed
Z. H., Ismail
format Article
author Mohd Ashraf, Ahmad
Zahar, Mohamed
Z. H., Ismail
author_sort Mohd Ashraf, Ahmad
title Hybrid input shaping and PID control of a flexible robot manipulator
title_short Hybrid input shaping and PID control of a flexible robot manipulator
title_full Hybrid input shaping and PID control of a flexible robot manipulator
title_fullStr Hybrid input shaping and PID control of a flexible robot manipulator
title_full_unstemmed Hybrid input shaping and PID control of a flexible robot manipulator
title_sort hybrid input shaping and pid control of a flexible robot manipulator
publisher The Institution of Engineers, Malaysia
publishDate 2011
url http://dspace.unimap.edu.my/xmlui/handle/123456789/13681
_version_ 1643790970584563712
score 13.160551

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