Control Strategy for Active Vibration Suppression of Flexible Robot Manipulator

This paper describes the use of angular position control approaches for a flexible robot manipulator with disturbance effect in the dynamic system. A nominal characteristic trajectory following (NCTF) controller is used to actively control the vibration of flexible structures. The controller design,...

Full description

Bibliographic Details
Main Authors:	Mohd Ashraf, Ahmad, Raja Mohd Taufika, Raja Ismail, Mohd Syakirin, Ramli
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/2437/ http://umpir.ump.edu.my/id/eprint/2437/ http://umpir.ump.edu.my/id/eprint/2437/2/control_strategy_ICIA_2010.pdf

id	ump-2437
recordtype	eprints
spelling	ump-24372018-02-06T00:19:07Z http://umpir.ump.edu.my/id/eprint/2437/ Control Strategy for Active Vibration Suppression of Flexible Robot Manipulator Mohd Ashraf, Ahmad Raja Mohd Taufika, Raja Ismail Mohd Syakirin, Ramli TK Electrical engineering. Electronics Nuclear engineering This paper describes the use of angular position control approaches for a flexible robot manipulator with disturbance effect in the dynamic system. A nominal characteristic trajectory following (NCTF) controller is used to actively control the vibration of flexible structures. The controller design, which is comprised of a nominal characteristic trajectory (NCT) and PI compensator, is free from exact modelling and parameter identification. The NCT is determined from an open-loop response and the PI compensator is used to make the manipulator motion to follow the NCT. The effectiveness of the NCTF controller is evaluated and compared with proportional-derivative (PD) controller and fuzzy logic controller as a benchmark. A complete analysis of simulation results for each technique is presented in time domain and frequency domain respectively. Moreover, performances of the controller are examined in terms of vibration suppression and disturbances cancellation. 2010 Conference or Workshop Item PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/2437/2/control_strategy_ICIA_2010.pdf Mohd Ashraf, Ahmad and Raja Mohd Taufika, Raja Ismail and Mohd Syakirin, Ramli (2010) Control Strategy for Active Vibration Suppression of Flexible Robot Manipulator. In: IEEE International Conference on Information and Automation, ICIA 2010, 20-23 June 2010 , Harbin, Heilongjiang, China. pp. 741-746.. http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=5512469&contentType=Conference+Publications&searchField%3DSearch_All%26queryText%3DControl+Strategy+for+Active+Vibration+Suppression+of+Flexible+Robot+Manipulator
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 Mohd Syakirin, Ramli Control Strategy for Active Vibration Suppression of Flexible Robot Manipulator
description	This paper describes the use of angular position control approaches for a flexible robot manipulator with disturbance effect in the dynamic system. A nominal characteristic trajectory following (NCTF) controller is used to actively control the vibration of flexible structures. The controller design, which is comprised of a nominal characteristic trajectory (NCT) and PI compensator, is free from exact modelling and parameter identification. The NCT is determined from an open-loop response and the PI compensator is used to make the manipulator motion to follow the NCT. The effectiveness of the NCTF controller is evaluated and compared with proportional-derivative (PD) controller and fuzzy logic controller as a benchmark. A complete analysis of simulation results for each technique is presented in time domain and frequency domain respectively. Moreover, performances of the controller are examined in terms of vibration suppression and disturbances cancellation.
format	Conference or Workshop Item
author	Mohd Ashraf, Ahmad Raja Mohd Taufika, Raja Ismail Mohd Syakirin, Ramli
author_facet	Mohd Ashraf, Ahmad Raja Mohd Taufika, Raja Ismail Mohd Syakirin, Ramli
author_sort	Mohd Ashraf, Ahmad
title	Control Strategy for Active Vibration Suppression of Flexible Robot Manipulator
title_short	Control Strategy for Active Vibration Suppression of Flexible Robot Manipulator
title_full	Control Strategy for Active Vibration Suppression of Flexible Robot Manipulator
title_fullStr	Control Strategy for Active Vibration Suppression of Flexible Robot Manipulator
title_full_unstemmed	Control Strategy for Active Vibration Suppression of Flexible Robot Manipulator
title_sort	control strategy for active vibration suppression of flexible robot manipulator
publishDate	2010
url	http://umpir.ump.edu.my/id/eprint/2437/ http://umpir.ump.edu.my/id/eprint/2437/ http://umpir.ump.edu.my/id/eprint/2437/2/control_strategy_ICIA_2010.pdf
first_indexed	2023-09-18T21:56:14Z
last_indexed	2023-09-18T21:56:14Z
_version_	1777414097186324480

Control Strategy for Active Vibration Suppression of Flexible Robot Manipulator

Similar Items