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Computed torque and velocity feedback control of cooperative manipulators handling a flexible beam

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Main Authors: Abdul Rahman, Samewoi, Norsinnira, Zainul Azlan, Md. Raisuddin, Khan, Hiroshi, Yamaura
Other Authors: sinnira@iium.edu.my
Format: Article
Language:English
Published: Universiti Malaysia Perlis (UniMAP) 2020
Subjects:
Cooperative manipulators
Flexible beam
Singular perturbation method
Computed torque control
Slow-Fast subsystems
Online Access:http://dspace.unimap.edu.my:80/xmlui/handle/123456789/68694
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spelling my.unimap-686942020-11-11T09:02:34Z Computed torque and velocity feedback control of cooperative manipulators handling a flexible beam Abdul Rahman, Samewoi Norsinnira, Zainul Azlan Md. Raisuddin, Khan Hiroshi, Yamaura sinnira@iium.edu.my Cooperative manipulators Flexible beam Singular perturbation method Computed torque control Slow-Fast subsystems Link to publisher's homepage at http://ijneam.unimap.edu.my Handling a flexible object is more complicated than a rigid one since it involves the vibration of the object. Since vibration is known to lead to disturbance, discomfort, damage, and destruction; it needs to be suppressed. The system consists of two cooperative manipulators handling a flexible beam that is modelled in partial differential equation (PDE) form and employed a singular perturbation method to model the slow and fast subsystems. This paper presents a composite control comprising of the computed torque control (CTC) scheme for the slow subsystem and a velocity feedback control (VFC) for the fast subsystem that was developed based on the PDE model form so that two cooperative manipulators track the desired trajectories while suppressing the transverse vibrations of the beam. A stability analysis was carried out for each subsystem to satisfy Tikhonov’s Theorem. The simulation results for slow subsystem showed that the tracking of positions and orientation have been achieved within 0.5 s with the root-mean-square error (RMSE) values of 0.002745 m, 0.02292 m, and 0.01563 rad for X-direction, Y-direction and the orientation, respectively. For the fast subsystem, the transverse vibration of the beam is completely suppressed within 0.8 s. The results proved that the proposed controller has worked well with the PDE model of cooperative manipulators to handle the flexible beam while suppressing its vibration. 2020-11-11T09:02:34Z 2020-11-11T09:02:34Z 2020-05 Article International Journal of Nanoelectronics and Materials, vol.13(Special Issue), 2020, pages 17-34 1985-5761 (Printed) 1997-4434 (Online) http://dspace.unimap.edu.my:80/xmlui/handle/123456789/68694 http://ijneam.unimap.edu.my en International Symposium on Science, Technology and Engineering (ISSTE 2019); Universiti Malaysia Perlis (UniMAP)
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 Cooperative manipulators
Flexible beam
Singular perturbation method
Computed torque control
Slow-Fast subsystems
spellingShingle Cooperative manipulators
Flexible beam
Singular perturbation method
Computed torque control
Slow-Fast subsystems
Abdul Rahman, Samewoi
Norsinnira, Zainul Azlan
Md. Raisuddin, Khan
Hiroshi, Yamaura
Computed torque and velocity feedback control of cooperative manipulators handling a flexible beam
description Link to publisher's homepage at http://ijneam.unimap.edu.my
author2 sinnira@iium.edu.my
author_facet sinnira@iium.edu.my
Abdul Rahman, Samewoi
Norsinnira, Zainul Azlan
Md. Raisuddin, Khan
Hiroshi, Yamaura
format Article
author Abdul Rahman, Samewoi
Norsinnira, Zainul Azlan
Md. Raisuddin, Khan
Hiroshi, Yamaura
author_sort Abdul Rahman, Samewoi
title Computed torque and velocity feedback control of cooperative manipulators handling a flexible beam
title_short Computed torque and velocity feedback control of cooperative manipulators handling a flexible beam
title_full Computed torque and velocity feedback control of cooperative manipulators handling a flexible beam
title_fullStr Computed torque and velocity feedback control of cooperative manipulators handling a flexible beam
title_full_unstemmed Computed torque and velocity feedback control of cooperative manipulators handling a flexible beam
title_sort computed torque and velocity feedback control of cooperative manipulators handling a flexible beam
publisher Universiti Malaysia Perlis (UniMAP)
publishDate 2020
url http://dspace.unimap.edu.my:80/xmlui/handle/123456789/68694
_version_ 1698698497354629120
score 13.214268

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