Trajectory Tracking Controller for flexible robot arm
Damping; Flexible manipulators; Fuzzy logic; Manipulators; Manufacture; Proportional control systems; Robot applications; Robotic arms; Robotics; Sliding mode control; Three term control systems; Tracking (position); Trajectories; Two term control systems; Uncertainty analysis; Flexible robot manipu...
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Institute of Electrical and Electronics Engineers Inc.
2023
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my.uniten.dspace-222332023-05-29T13:59:45Z Trajectory Tracking Controller for flexible robot arm Ali M.A. Ismail F.B. Sahari K. Weria K. Moslem Y. Izaizi R. Abdollahian M. 57214142487 58027086700 57218170038 57151269200 57151424200 57151520600 55906828400 Damping; Flexible manipulators; Fuzzy logic; Manipulators; Manufacture; Proportional control systems; Robot applications; Robotic arms; Robotics; Sliding mode control; Three term control systems; Tracking (position); Trajectories; Two term control systems; Uncertainty analysis; Flexible robot manipulators; PD controllers; PID controllers; Tracking controller; Vibration-damping; Controllers The most important benefits of flexible link manipulator include high payload-To-Arm weight ratio. The reduction of weight leads to increase of the link elasticity that significantly complicates the control of the manipulator. The difficulty in control is caused by the fact that the link model is a distributed parameter plant. In this case, several elastic modes are required to achieve sufficiently high accuracy. Plus, the plant has several uncertain parameters (payload mass, hub and structural damping factors, etc.) that influence the systems performance. In this paper, Trajectory Tracking Controller is suggested by utilizing the hybrid controller approach to overcome the problem of vibration of tip position through motion which is a characteristic of the flexible link system. A modified version of the proportional-derivative rigid controller to track the hub position while sliding mode control was used for vibration damping. Also, a second controller (a fuzzy logic based proportional integral plus derivative control scheme was developed for both vibration damping and trajectory tracking. Results are illustrated in the robust performance of the proposed tip position tracking controllers over the payload variation. A good performance is obtained for the trajectory tracking. The stability of these controllers is also proved. � 2014 IEEE. Final 2023-05-29T05:59:45Z 2023-05-29T05:59:45Z 2015 Conference Paper 10.1109/ROMA.2014.7295859 2-s2.0-84959510030 https://www.scopus.com/inward/record.uri?eid=2-s2.0-84959510030&doi=10.1109%2fROMA.2014.7295859&partnerID=40&md5=f95583a003e7f222112ca60406f7f205 https://irepository.uniten.edu.my/handle/123456789/22233 7295859 39 45 Institute of Electrical and Electronics Engineers Inc. Scopus |
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| description |
Damping; Flexible manipulators; Fuzzy logic; Manipulators; Manufacture; Proportional control systems; Robot applications; Robotic arms; Robotics; Sliding mode control; Three term control systems; Tracking (position); Trajectories; Two term control systems; Uncertainty analysis; Flexible robot manipulators; PD controllers; PID controllers; Tracking controller; Vibration-damping; Controllers |
| author2 |
57214142487 |
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57214142487 Ali M.A. Ismail F.B. Sahari K. Weria K. Moslem Y. Izaizi R. Abdollahian M. |
| format |
Conference Paper |
| author |
Ali M.A. Ismail F.B. Sahari K. Weria K. Moslem Y. Izaizi R. Abdollahian M. |
| spellingShingle |
Ali M.A. Ismail F.B. Sahari K. Weria K. Moslem Y. Izaizi R. Abdollahian M. Trajectory Tracking Controller for flexible robot arm |
| author_sort |
Ali M.A. |
| title |
Trajectory Tracking Controller for flexible robot arm |
| title_short |
Trajectory Tracking Controller for flexible robot arm |
| title_full |
Trajectory Tracking Controller for flexible robot arm |
| title_fullStr |
Trajectory Tracking Controller for flexible robot arm |
| title_full_unstemmed |
Trajectory Tracking Controller for flexible robot arm |
| title_sort |
trajectory tracking controller for flexible robot arm |
| publisher |
Institute of Electrical and Electronics Engineers Inc. |
| publishDate |
2023 |
| _version_ |
1806424520256389120 |
| score |
13.223943 |