Non-collocated Fuzzy Logic and Input Shaping Control Strategy for Elastic Joint Manipulator: Vibration Suppression and Time Response Analysis

Non-collocated Fuzzy Logic and Input Shaping Control Strategy for Elastic Joint Manipulator: Vibration Suppression and Time Response Analysis

Abstract- Conventional model-based control strategies are very complex and difficult to synthesize due to high complexity of the dynamics of robots manipulator considering joint elasticity. This paper presents investigations into the development of hybrid control schemes for trajectory tracking and...

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Main Authors: Mohd Ashraf, Ahmad, Yasmin, Abdul Wahab, Raja Mohd Taufika, Raja Ismail
Format: Conference or Workshop Item
Language:English
Published: UMP 2011
Subjects:
TK Electrical engineering. Electronics Nuclear engineering
Online Access:http://umpir.ump.edu.my/id/eprint/2314/
http://umpir.ump.edu.my/id/eprint/2314/1/Non-collocated_Fuzzy_Logic_and_Input_Shaping_Control_Strategy_for_Elastic_Joint_Manipulator__Vibration_Suppression_and_Time_Response_Analysis.doc
id ump-2314
recordtype eprints
spelling ump-23142018-02-05T07:47:15Z http://umpir.ump.edu.my/id/eprint/2314/ Non-collocated Fuzzy Logic and Input Shaping Control Strategy for Elastic Joint Manipulator: Vibration Suppression and Time Response Analysis Mohd Ashraf, Ahmad Yasmin, Abdul Wahab Raja Mohd Taufika, Raja Ismail TK Electrical engineering. Electronics Nuclear engineering Abstract- Conventional model-based control strategies are very complex and difficult to synthesize due to high complexity of the dynamics of robots manipulator considering joint elasticity. This paper presents investigations into the development of hybrid control schemes for trajectory tracking and vibration control of a flexible joint manipulator. To study the effectiveness of the controllers, initially a collocated proportional-derivative (PD)-type Fuzzy Logic Controller (FLC) is developed for tip angular position control of a flexible joint manipulator. This is then extended to incorporate a non-collocated Fuzzy Logic Controller and input shaping scheme for vibration reduction of the flexible joint system. The positive zero-vibration-derivative-derivative (ZVDD) shaper is designed based on the properties of the system. Simulation results of the response of the flexible joint manipulator with the controllers are presented in time and frequency domains. The performances of the hybrid control schemes are examined in terms of input tracking capability, level of vibration reduction and time response specifications. Finally, a comparative assessment of the control techniques is presented and discussed UMP 2011 Conference or Workshop Item PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/2314/1/Non-collocated_Fuzzy_Logic_and_Input_Shaping_Control_Strategy_for_Elastic_Joint_Manipulator__Vibration_Suppression_and_Time_Response_Analysis.doc Mohd Ashraf, Ahmad and Yasmin, Abdul Wahab and Raja Mohd Taufika, Raja Ismail (2011) Non-collocated Fuzzy Logic and Input Shaping Control Strategy for Elastic Joint Manipulator: Vibration Suppression and Time Response Analysis. In: International Conference on Computer Control and Automation (ICCCA) 2011, 1-3 May 2011 , Jeju Island, South Korea. , 4 (June 2011). ISSN 1985-9325(Print); 2180-1606 (Online) (Unpublished)
repository_type Digital Repository
institution_category Local University
institution Universiti Malaysia Pahang
building UMP Institutional Repository
collection Online Access
language English
topic TK Electrical engineering. Electronics Nuclear engineering
spellingShingle TK Electrical engineering. Electronics Nuclear engineering
Mohd Ashraf, Ahmad
Yasmin, Abdul Wahab
Raja Mohd Taufika, Raja Ismail
Non-collocated Fuzzy Logic and Input Shaping Control Strategy for Elastic Joint Manipulator: Vibration Suppression and Time Response Analysis
description Abstract- Conventional model-based control strategies are very complex and difficult to synthesize due to high complexity of the dynamics of robots manipulator considering joint elasticity. This paper presents investigations into the development of hybrid control schemes for trajectory tracking and vibration control of a flexible joint manipulator. To study the effectiveness of the controllers, initially a collocated proportional-derivative (PD)-type Fuzzy Logic Controller (FLC) is developed for tip angular position control of a flexible joint manipulator. This is then extended to incorporate a non-collocated Fuzzy Logic Controller and input shaping scheme for vibration reduction of the flexible joint system. The positive zero-vibration-derivative-derivative (ZVDD) shaper is designed based on the properties of the system. Simulation results of the response of the flexible joint manipulator with the controllers are presented in time and frequency domains. The performances of the hybrid control schemes are examined in terms of input tracking capability, level of vibration reduction and time response specifications. Finally, a comparative assessment of the control techniques is presented and discussed
format Conference or Workshop Item
author Mohd Ashraf, Ahmad
Yasmin, Abdul Wahab
Raja Mohd Taufika, Raja Ismail
author_facet Mohd Ashraf, Ahmad
Yasmin, Abdul Wahab
Raja Mohd Taufika, Raja Ismail
author_sort Mohd Ashraf, Ahmad
title Non-collocated Fuzzy Logic and Input Shaping Control Strategy for Elastic Joint Manipulator: Vibration Suppression and Time Response Analysis
title_short Non-collocated Fuzzy Logic and Input Shaping Control Strategy for Elastic Joint Manipulator: Vibration Suppression and Time Response Analysis
title_full Non-collocated Fuzzy Logic and Input Shaping Control Strategy for Elastic Joint Manipulator: Vibration Suppression and Time Response Analysis
title_fullStr Non-collocated Fuzzy Logic and Input Shaping Control Strategy for Elastic Joint Manipulator: Vibration Suppression and Time Response Analysis
title_full_unstemmed Non-collocated Fuzzy Logic and Input Shaping Control Strategy for Elastic Joint Manipulator: Vibration Suppression and Time Response Analysis
title_sort non-collocated fuzzy logic and input shaping control strategy for elastic joint manipulator: vibration suppression and time response analysis
publisher UMP
publishDate 2011
url http://umpir.ump.edu.my/id/eprint/2314/
http://umpir.ump.edu.my/id/eprint/2314/1/Non-collocated_Fuzzy_Logic_and_Input_Shaping_Control_Strategy_for_Elastic_Joint_Manipulator__Vibration_Suppression_and_Time_Response_Analysis.doc
first_indexed 2023-09-18T21:56:00Z
last_indexed 2023-09-18T21:56:00Z
_version_ 1777414083103948800

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