The development of embedded low-pass filter for vibration control of a flexible manipulator

This project presents an investigation into developing feedforward control scheme for vibration of a flexible manipulator using low pass (IIR) filter technique using Xilinx ISE 10.1 (Spartan 3E). A constraint planar single link flexible manipulator is considered in this project and dynamic model of...

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Bibliographic Details
Main Author:	Aainaa Hazwani, Mohd Hashim
Format:	Undergraduates Project Papers
Language:	English
Published:	2009
Subjects:	TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/14475/ http://umpir.ump.edu.my/id/eprint/14475/ http://umpir.ump.edu.my/id/eprint/14475/1/FKEE%20-%20AAINAA%20HAZWANI%20MOHD%20HASHIM.PDF

id	ump-14475
recordtype	eprints
spelling	ump-144752016-09-26T06:20:11Z http://umpir.ump.edu.my/id/eprint/14475/ The development of embedded low-pass filter for vibration control of a flexible manipulator Aainaa Hazwani, Mohd Hashim TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering This project presents an investigation into developing feedforward control scheme for vibration of a flexible manipulator using low pass (IIR) filter technique using Xilinx ISE 10.1 (Spartan 3E). A constraint planar single link flexible manipulator is considered in this project and dynamic model of the system is derived using assumed mode method. A bang-bang torque input signal is used to determine the characteristic parameters for designed and evaluate for vibration control technique. The low pass filter algorithm is designed with sampling frequency of 1000 Hz and cut-off frequency 20 Hz. After that, it is embedded in Field Programmable Gate Array (FPGA) board using Xilinx ISE 10.1 software. This algorithm is then applied to the flexible manipulator in the simulink through PCI 1710 HG DAQ Card. The experimental results presented in time and frequency domain. The effects of the filter order in low pass performance are also investigated. Finally, a simulation of low pass filter , in Matlab is compared in the embedded filter onto FPGA board. 2009-10 Undergraduates Project Papers NonPeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/14475/1/FKEE%20-%20AAINAA%20HAZWANI%20MOHD%20HASHIM.PDF Aainaa Hazwani, Mohd Hashim (2009) The development of embedded low-pass filter for vibration control of a flexible manipulator. Faculty of Electrical & Electronics Engineering, Universiti Malaysia Pahang. http://iportal.ump.edu.my/lib/item?id=chamo:54761&theme=UMP2
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English
topic	TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering Aainaa Hazwani, Mohd Hashim The development of embedded low-pass filter for vibration control of a flexible manipulator
description	This project presents an investigation into developing feedforward control scheme for vibration of a flexible manipulator using low pass (IIR) filter technique using Xilinx ISE 10.1 (Spartan 3E). A constraint planar single link flexible manipulator is considered in this project and dynamic model of the system is derived using assumed mode method. A bang-bang torque input signal is used to determine the characteristic parameters for designed and evaluate for vibration control technique. The low pass filter algorithm is designed with sampling frequency of 1000 Hz and cut-off frequency 20 Hz. After that, it is embedded in Field Programmable Gate Array (FPGA) board using Xilinx ISE 10.1 software. This algorithm is then applied to the flexible manipulator in the simulink through PCI 1710 HG DAQ Card. The experimental results presented in time and frequency domain. The effects of the filter order in low pass performance are also investigated. Finally, a simulation of low pass filter , in Matlab is compared in the embedded filter onto FPGA board.
format	Undergraduates Project Papers
author	Aainaa Hazwani, Mohd Hashim
author_facet	Aainaa Hazwani, Mohd Hashim
author_sort	Aainaa Hazwani, Mohd Hashim
title	The development of embedded low-pass filter for vibration control of a flexible manipulator
title_short	The development of embedded low-pass filter for vibration control of a flexible manipulator
title_full	The development of embedded low-pass filter for vibration control of a flexible manipulator
title_fullStr	The development of embedded low-pass filter for vibration control of a flexible manipulator
title_full_unstemmed	The development of embedded low-pass filter for vibration control of a flexible manipulator
title_sort	development of embedded low-pass filter for vibration control of a flexible manipulator
publishDate	2009
url	http://umpir.ump.edu.my/id/eprint/14475/ http://umpir.ump.edu.my/id/eprint/14475/ http://umpir.ump.edu.my/id/eprint/14475/1/FKEE%20-%20AAINAA%20HAZWANI%20MOHD%20HASHIM.PDF
first_indexed	2023-09-18T22:18:16Z
last_indexed	2023-09-18T22:18:16Z
_version_	1777415483882995712

The development of embedded low-pass filter for vibration control of a flexible manipulator

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