Vibration Control Strategy for Flexible Joint Manipulator: A Fuzzy Logic Control Approach

Vibration Control Strategy for Flexible Joint Manipulator: A Fuzzy Logic Control Approach

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 Fuzzy Logic Control for trajectory tracking and vibr...

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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/2442/
http://umpir.ump.edu.my/id/eprint/2442/
http://umpir.ump.edu.my/id/eprint/2442/2/Vibration_Control_Strategy_for_Flexible_Joint_Manipulator_A_Fuzzy_Logic_Control_Approach.pdf
id ump-2442
recordtype eprints
spelling ump-24422018-02-08T02:07:48Z http://umpir.ump.edu.my/id/eprint/2442/ Vibration Control Strategy for Flexible Joint Manipulator: A Fuzzy Logic Control Approach Mohd Ashraf, Ahmad Raja Mohd Taufika, Raja Ismail Mohd Syakirin, Ramli 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 Fuzzy Logic Control for trajectory tracking and vibration control of a flexible joint manipulator. To study the effectiveness of the controllers, a PD-type Fuzzy Logic 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 Fuzzy Logic 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/2442/2/Vibration_Control_Strategy_for_Flexible_Joint_Manipulator_A_Fuzzy_Logic_Control_Approach.pdf Mohd Ashraf, Ahmad and Raja Mohd Taufika, Raja Ismail and Mohd Syakirin, Ramli (2010) Vibration Control Strategy for Flexible Joint Manipulator: A Fuzzy Logic Control Approach. In: IEEE Symposium on Industrial Electronics and Applications 2010, 3-5 Oct.2010 , Penang, Malaysia. pp. 469-474.. http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=5679419&contentType=Conference+Publications&searchField%3DSearch_All%26queryText%3DVibration+Control+Strategy+for+Flexible+Joint+Manipulator%3A+A+Fuzzy+Logic+Control+Approach
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
Vibration Control Strategy for Flexible Joint Manipulator: A Fuzzy Logic Control Approach
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 Fuzzy Logic Control for trajectory tracking and vibration control of a flexible joint manipulator. To study the effectiveness of the controllers, a PD-type Fuzzy Logic 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 Fuzzy Logic 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
Mohd Syakirin, Ramli
author_facet Mohd Ashraf, Ahmad
Raja Mohd Taufika, Raja Ismail
Mohd Syakirin, Ramli
author_sort Mohd Ashraf, Ahmad
title Vibration Control Strategy for Flexible Joint Manipulator: A Fuzzy Logic Control Approach
title_short Vibration Control Strategy for Flexible Joint Manipulator: A Fuzzy Logic Control Approach
title_full Vibration Control Strategy for Flexible Joint Manipulator: A Fuzzy Logic Control Approach
title_fullStr Vibration Control Strategy for Flexible Joint Manipulator: A Fuzzy Logic Control Approach
title_full_unstemmed Vibration Control Strategy for Flexible Joint Manipulator: A Fuzzy Logic Control Approach
title_sort vibration control strategy for flexible joint manipulator: a fuzzy logic control approach
publishDate 2010
url http://umpir.ump.edu.my/id/eprint/2442/
http://umpir.ump.edu.my/id/eprint/2442/
http://umpir.ump.edu.my/id/eprint/2442/2/Vibration_Control_Strategy_for_Flexible_Joint_Manipulator_A_Fuzzy_Logic_Control_Approach.pdf
first_indexed 2023-09-18T21:56:14Z
last_indexed 2023-09-18T21:56:14Z
_version_ 1777414097776672768

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