Modelling and intelligent control of double-link flexible robotic manipulator

The use of robotic manipulator with multi-link structure has a great influence in most of the current industries. However, controlling the motion of multi-link manipulator has become a challenging task especially when the flexible structure is used. Currently, the system utilizes the complex mathema...

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Main Author: Jamali, Annisa
Format: Thesis
Language:English
Published: 2018
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Online Access:http://eprints.utm.my/id/eprint/79247/1/AnnisaJamaliPFKM2018.pdf
http://eprints.utm.my/id/eprint/79247/
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spelling my.utm.792472018-10-14T08:39:50Z http://eprints.utm.my/id/eprint/79247/ Modelling and intelligent control of double-link flexible robotic manipulator Jamali, Annisa TJ Mechanical engineering and machinery The use of robotic manipulator with multi-link structure has a great influence in most of the current industries. However, controlling the motion of multi-link manipulator has become a challenging task especially when the flexible structure is used. Currently, the system utilizes the complex mathematics to solve desired hub angle with the coupling effect and vibration in the system. Thus, this research aims to develop a dynamic system and controller for double-link flexible robotics manipulator (DLFRM) with the improvement on hub angle position and vibration suppression. A laboratory sized DLFRM moving in horizontal direction is developed and fabricated to represent the actual dynamics of the system. The research utilized neural network as the model estimation. Results indicated that the identification of the DLFRM system using multi-layer perceptron (MLP) outperformed the Elman neural network (ENN). In the controllers’ development, this research focuses on two main parts namely fixed controller and adaptive controller. In fixed controller, the metaheuristic algorithms known as Particle Swarm Optimization (PSO) and Artificial Bees Colony (ABC) were utilized to find optimum value of PID controller parameter to track the desired hub angle and supress the vibration based on the identified models obtained earlier. For the adaptive controller, self-tuning using iterative learning algorithm (ILA) was implemented to adapt the controller parameters to meet the desired performances when there were changes to the system. It was observed that self-tuning using ILA can track the desired hub angle and supress the vibration even when payload was added to the end effector of the system. In contrast, the fixed controller degraded when added payload exceeds 20 g. The performance of these control schemes was analysed separately via real-time PC-based control. The behaviour of the system response was observed in terms of trajectory tracking and vibration suppression. As a conclusion, it was found that the percentage of improvement achieved experimentally by the self-tuning controller over the fixed controller (PID-PSO) for settling time are 3.3 % and 3.28 % of each link respectively. The steady state errors of links 1 and 2 are improved by 91.9 % and 66.7 % respectively. Meanwhile, the vibration suppression for links 1 and 2 are improved by 76.7 % and 67.8 % respectively. 2018 Thesis NonPeerReviewed application/pdf en http://eprints.utm.my/id/eprint/79247/1/AnnisaJamaliPFKM2018.pdf Jamali, Annisa (2018) Modelling and intelligent control of double-link flexible robotic manipulator. PhD thesis, Universiti Teknologi Malaysia, Faculty of Mechanical Engineering.
institution Universiti Teknologi Malaysia
building UTM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknologi Malaysia
content_source UTM Institutional Repository
url_provider http://eprints.utm.my/
language English
topic TJ Mechanical engineering and machinery
spellingShingle TJ Mechanical engineering and machinery
Jamali, Annisa
Modelling and intelligent control of double-link flexible robotic manipulator
description The use of robotic manipulator with multi-link structure has a great influence in most of the current industries. However, controlling the motion of multi-link manipulator has become a challenging task especially when the flexible structure is used. Currently, the system utilizes the complex mathematics to solve desired hub angle with the coupling effect and vibration in the system. Thus, this research aims to develop a dynamic system and controller for double-link flexible robotics manipulator (DLFRM) with the improvement on hub angle position and vibration suppression. A laboratory sized DLFRM moving in horizontal direction is developed and fabricated to represent the actual dynamics of the system. The research utilized neural network as the model estimation. Results indicated that the identification of the DLFRM system using multi-layer perceptron (MLP) outperformed the Elman neural network (ENN). In the controllers’ development, this research focuses on two main parts namely fixed controller and adaptive controller. In fixed controller, the metaheuristic algorithms known as Particle Swarm Optimization (PSO) and Artificial Bees Colony (ABC) were utilized to find optimum value of PID controller parameter to track the desired hub angle and supress the vibration based on the identified models obtained earlier. For the adaptive controller, self-tuning using iterative learning algorithm (ILA) was implemented to adapt the controller parameters to meet the desired performances when there were changes to the system. It was observed that self-tuning using ILA can track the desired hub angle and supress the vibration even when payload was added to the end effector of the system. In contrast, the fixed controller degraded when added payload exceeds 20 g. The performance of these control schemes was analysed separately via real-time PC-based control. The behaviour of the system response was observed in terms of trajectory tracking and vibration suppression. As a conclusion, it was found that the percentage of improvement achieved experimentally by the self-tuning controller over the fixed controller (PID-PSO) for settling time are 3.3 % and 3.28 % of each link respectively. The steady state errors of links 1 and 2 are improved by 91.9 % and 66.7 % respectively. Meanwhile, the vibration suppression for links 1 and 2 are improved by 76.7 % and 67.8 % respectively.
format Thesis
author Jamali, Annisa
author_facet Jamali, Annisa
author_sort Jamali, Annisa
title Modelling and intelligent control of double-link flexible robotic manipulator
title_short Modelling and intelligent control of double-link flexible robotic manipulator
title_full Modelling and intelligent control of double-link flexible robotic manipulator
title_fullStr Modelling and intelligent control of double-link flexible robotic manipulator
title_full_unstemmed Modelling and intelligent control of double-link flexible robotic manipulator
title_sort modelling and intelligent control of double-link flexible robotic manipulator
publishDate 2018
url http://eprints.utm.my/id/eprint/79247/1/AnnisaJamaliPFKM2018.pdf
http://eprints.utm.my/id/eprint/79247/
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score 13.160551