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Experimental investigation of feed-forward control schemes of flexible robot manipulator system

MUCEET 2009 is organized by Malaysian Technical Universities Network (MTUN) comprising of Universiti Malaysia Perlis (UniMAP), Universiti Tun Hussein Onn (UTHM), Universiti Teknikal Melaka (UTeM) and Universiti Malaysia Pahang (UMP), 20th - 22nd June 2009 at M. S. Garden Hotel, Kuantan, Pahang.

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Bibliographic Details
Main Authors: M. A., Ahmad, Z., Mohamed, Z. H., Ismail
Format: Working Paper
Language:English
Published: Universiti Malaysia Pahang (UMP) 2010
Subjects:
Flexible manipulator
Input shaping
Vibration control
Flexible-link robotic manipulators
Malaysian Technical Universities Conference on Engineering and Technology (MUCEET)
Online Access:http://dspace.unimap.edu.my/xmlui/handle/123456789/8839
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spelling my.unimap-88392010-08-19T03:06:41Z Experimental investigation of feed-forward control schemes of flexible robot manipulator system M. A., Ahmad Z., Mohamed Z. H., Ismail Flexible manipulator Input shaping Vibration control Flexible-link robotic manipulators Malaysian Technical Universities Conference on Engineering and Technology (MUCEET) MUCEET 2009 is organized by Malaysian Technical Universities Network (MTUN) comprising of Universiti Malaysia Perlis (UniMAP), Universiti Tun Hussein Onn (UTHM), Universiti Teknikal Melaka (UTeM) and Universiti Malaysia Pahang (UMP), 20th - 22nd June 2009 at M. S. Garden Hotel, Kuantan, Pahang. This paper presents experimental investigations into the applications of feed forward control schemes for vibration control of a flexible manipulator. Feed forward control schemes based on input shaping and filtering techniques are to examined. A constrained planar single link flexible manipulator is considered in this experimental work. An unshaped bang-bang torque input is used to determine the characteristics parameter of the systems for design and evaluation of the input shaping control techniques. The input shapers and filtering techniques are designed based on the properties of the system. Experimental results of the response of the manipulator to the shaped and filtered inputs are presented in time and frequency domains. Performance of the shapers are examined in terms of level of vibration reduction and time response specifications. The effects of derivative order of the input shaper on the performance of the system are investigated. Finally, the comparative assessment of the control strategies is presented and discussed. 2010-08-19T03:06:41Z 2010-08-19T03:06:41Z 2009-06-20 Working Paper p.1-5 http://hdl.handle.net/123456789/8839 en Proceedings of the Malaysian Technical Universities Conference on Engineering and Technology (MUCEET) 2009 Universiti Malaysia Pahang (UMP)
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
Vibration control
Flexible-link robotic manipulators
Malaysian Technical Universities Conference on Engineering and Technology (MUCEET)
spellingShingle Flexible manipulator
Input shaping
Vibration control
Flexible-link robotic manipulators
Malaysian Technical Universities Conference on Engineering and Technology (MUCEET)
M. A., Ahmad
Z., Mohamed
Z. H., Ismail
Experimental investigation of feed-forward control schemes of flexible robot manipulator system
description MUCEET 2009 is organized by Malaysian Technical Universities Network (MTUN) comprising of Universiti Malaysia Perlis (UniMAP), Universiti Tun Hussein Onn (UTHM), Universiti Teknikal Melaka (UTeM) and Universiti Malaysia Pahang (UMP), 20th - 22nd June 2009 at M. S. Garden Hotel, Kuantan, Pahang.
format Working Paper
author M. A., Ahmad
Z., Mohamed
Z. H., Ismail
author_facet M. A., Ahmad
Z., Mohamed
Z. H., Ismail
author_sort M. A., Ahmad
title Experimental investigation of feed-forward control schemes of flexible robot manipulator system
title_short Experimental investigation of feed-forward control schemes of flexible robot manipulator system
title_full Experimental investigation of feed-forward control schemes of flexible robot manipulator system
title_fullStr Experimental investigation of feed-forward control schemes of flexible robot manipulator system
title_full_unstemmed Experimental investigation of feed-forward control schemes of flexible robot manipulator system
title_sort experimental investigation of feed-forward control schemes of flexible robot manipulator system
publisher Universiti Malaysia Pahang (UMP)
publishDate 2010
url http://dspace.unimap.edu.my/xmlui/handle/123456789/8839
_version_ 1643789319274496000
score 13.160551

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