Vibration and position control of a flexible manipulator

A single-link flexible manipulator is fabricated. This flexible manipulator is modeled as a SIMO system with the motor-torque as the input and the hub angle and the tip position as the outputs. The two transfer functions are identified using frequency-domain system identification. A polynomial based...

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Bibliographic Details
Main Authors:	Mahmood, Iskandar Al-Thani, Bhikkaji, Bharath, Moheimani, S.O. Reza
Format:	Conference or Workshop Item
Language:	English
Published:	2007
Subjects:	TJ212 Control engineering
Online Access:	http://irep.iium.edu.my/32300/ http://irep.iium.edu.my/32300/ http://irep.iium.edu.my/32300/1/Vibration_and_Position_Control_of_a_Flexible_Manipulator.pdf

id	iium-32300
recordtype	eprints
spelling	iium-323002013-10-11T06:52:41Z http://irep.iium.edu.my/32300/ Vibration and position control of a flexible manipulator Mahmood, Iskandar Al-Thani Bhikkaji, Bharath Moheimani, S.O. Reza TJ212 Control engineering A single-link flexible manipulator is fabricated. This flexible manipulator is modeled as a SIMO system with the motor-torque as the input and the hub angle and the tip position as the outputs. The two transfer functions are identified using frequency-domain system identification. A polynomial based feedback controller is designed to damp hub angle response. This controller also damps the tip position response. Apart from damping the system, the feedback controller also provides substantial robustness. Finally, an integral controller is also designed to achieve zero-steady state error in the tip position. 2007 Conference or Workshop Item PeerReviewed application/pdf en http://irep.iium.edu.my/32300/1/Vibration_and_Position_Control_of_a_Flexible_Manipulator.pdf Mahmood, Iskandar Al-Thani and Bhikkaji, Bharath and Moheimani, S.O. Reza (2007) Vibration and position control of a flexible manipulator. In: Information Decision and Control (IDC 2007), 12-14 Feb 2007, Adelaide, Australia. http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=4252512&isnumber=4252450
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English
topic	TJ212 Control engineering
spellingShingle	TJ212 Control engineering Mahmood, Iskandar Al-Thani Bhikkaji, Bharath Moheimani, S.O. Reza Vibration and position control of a flexible manipulator
description	A single-link flexible manipulator is fabricated. This flexible manipulator is modeled as a SIMO system with the motor-torque as the input and the hub angle and the tip position as the outputs. The two transfer functions are identified using frequency-domain system identification. A polynomial based feedback controller is designed to damp hub angle response. This controller also damps the tip position response. Apart from damping the system, the feedback controller also provides substantial robustness. Finally, an integral controller is also designed to achieve zero-steady state error in the tip position.
format	Conference or Workshop Item
author	Mahmood, Iskandar Al-Thani Bhikkaji, Bharath Moheimani, S.O. Reza
author_facet	Mahmood, Iskandar Al-Thani Bhikkaji, Bharath Moheimani, S.O. Reza
author_sort	Mahmood, Iskandar Al-Thani
title	Vibration and position control of a flexible manipulator
title_short	Vibration and position control of a flexible manipulator
title_full	Vibration and position control of a flexible manipulator
title_fullStr	Vibration and position control of a flexible manipulator
title_full_unstemmed	Vibration and position control of a flexible manipulator
title_sort	vibration and position control of a flexible manipulator
publishDate	2007
url	http://irep.iium.edu.my/32300/ http://irep.iium.edu.my/32300/ http://irep.iium.edu.my/32300/1/Vibration_and_Position_Control_of_a_Flexible_Manipulator.pdf
first_indexed	2023-09-18T20:46:38Z
last_indexed	2023-09-18T20:46:38Z
_version_	1777409718516449280

Vibration and position control of a flexible manipulator

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