Composite PD and Fuzzy Logic Approach for Vibration of Elastic Joint Manipulator

The increased complexity of the dynamics of robots manipulator considering joint elasticity makes conventional model-based control strategies complex and difficult to synthesize. This paper presents investigations into the development of composite collocated proportional-derivative (PD) and Fuzzy Lo...

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Main Authors:	Mohd Ashraf, Ahmad, Raja Mohd Taufika, Raja Ismail
Format:	Conference or Workshop Item
Language:	English
Published:	2010
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/2433/ http://umpir.ump.edu.my/id/eprint/2433/ http://umpir.ump.edu.my/id/eprint/2433/2/composite_PD_adn_fuzzy.pdf

id	ump-2433
recordtype	eprints
spelling	ump-24332018-02-06T00:13:14Z http://umpir.ump.edu.my/id/eprint/2433/ Composite PD and Fuzzy Logic Approach for Vibration of Elastic Joint Manipulator Mohd Ashraf, Ahmad Raja Mohd Taufika, Raja Ismail TK Electrical engineering. Electronics Nuclear engineering The increased complexity of the dynamics of robots manipulator considering joint elasticity makes conventional model-based control strategies complex and difficult to synthesize. This paper presents investigations into the development of composite collocated proportional-derivative (PD) and Fuzzy Logic Control for trajectory tracking and vibration control of a flexible joint manipulator respectively. To study the effectiveness of the controllers, a collocated PD Controller is developed for tip angular position control of a flexible joint manipulator. This is then extended to incorporate a non-collocated Fuzzy Logic Controller for vibration reduction of the flexible joint 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 composite 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. 2010 Conference or Workshop Item PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/2433/2/composite_PD_adn_fuzzy.pdf Mohd Ashraf, Ahmad and Raja Mohd Taufika, Raja Ismail (2010) Composite PD and Fuzzy Logic Approach for Vibration of Elastic Joint Manipulator. In: International Conference on Control, Automation and Systems 2010, 27-30 Oct 2010 , Gyeonggi-do, Korea. pp. 2175-2180.. http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5669863
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 Raja Mohd Taufika, Raja Ismail Composite PD and Fuzzy Logic Approach for Vibration of Elastic Joint Manipulator
description	The increased complexity of the dynamics of robots manipulator considering joint elasticity makes conventional model-based control strategies complex and difficult to synthesize. This paper presents investigations into the development of composite collocated proportional-derivative (PD) and Fuzzy Logic Control for trajectory tracking and vibration control of a flexible joint manipulator respectively. To study the effectiveness of the controllers, a collocated PD Controller is developed for tip angular position control of a flexible joint manipulator. This is then extended to incorporate a non-collocated Fuzzy Logic Controller for vibration reduction of the flexible joint 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 composite 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 Raja Mohd Taufika, Raja Ismail
author_facet	Mohd Ashraf, Ahmad Raja Mohd Taufika, Raja Ismail
author_sort	Mohd Ashraf, Ahmad
title	Composite PD and Fuzzy Logic Approach for Vibration of Elastic Joint Manipulator
title_short	Composite PD and Fuzzy Logic Approach for Vibration of Elastic Joint Manipulator
title_full	Composite PD and Fuzzy Logic Approach for Vibration of Elastic Joint Manipulator
title_fullStr	Composite PD and Fuzzy Logic Approach for Vibration of Elastic Joint Manipulator
title_full_unstemmed	Composite PD and Fuzzy Logic Approach for Vibration of Elastic Joint Manipulator
title_sort	composite pd and fuzzy logic approach for vibration of elastic joint manipulator
publishDate	2010
url	http://umpir.ump.edu.my/id/eprint/2433/ http://umpir.ump.edu.my/id/eprint/2433/ http://umpir.ump.edu.my/id/eprint/2433/2/composite_PD_adn_fuzzy.pdf
first_indexed	2023-09-18T21:56:13Z
last_indexed	2023-09-18T21:56:13Z
_version_	1777414096583393280

Composite PD and Fuzzy Logic Approach for Vibration of Elastic Joint Manipulator

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