Precise tip positioning of a flexible manipulator using resonant control
A single-link flexible manipulator is fabricated to represent a typical flexible robotic arm. 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 a frequency-do...
| Main Authors: | , , |
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| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
2007
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/5308/ http://irep.iium.edu.my/5308/1/Precise_tip_positioning_of_a_flexible_manipulator_using_resonant_control.pdf |
| Summary: | A single-link flexible manipulator is fabricated to represent a typical flexible robotic arm. 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 a frequency-domain system identification method. A feedback loop around the hub angle response with a resonant controller is designed to damp the resonant modes. A high gain integral controller is also designed to achieve zero steady-state error in the tip position response. Experiments are performed to demonstrate the effectiveness of the proposed control scheme. |
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