The direct strain feedback with PID control approach for a flexible manipulator: experimental results

Flexible manipulator (FM) is a robotic arm that can accomplish different tasks and the arm is a lightweight type, which means at least one dimension of their cross section is relatively small compared to their length. This project presents the development of direct strain feedback (DSFB) with PID co...

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Main Authors:	Mohd Zaidi, Mohd Tumari, Mohd Ashraf, Ahmad, Saealal, Muhammad Salihin, Mohd Anwar, Zawawi, Z., Mohamed, N. M., Yusop
Format:	Conference or Workshop Item
Language:	English
Published:	IEEE 2011
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/25714/ http://umpir.ump.edu.my/id/eprint/25714/ http://umpir.ump.edu.my/id/eprint/25714/1/The%20direct%20strain%20feedback%20with%20PID%20control%20approach%20for%20a%20flexible%20manipulator.pdf

id	ump-25714
recordtype	eprints
spelling	ump-257142019-12-19T04:07:43Z http://umpir.ump.edu.my/id/eprint/25714/ The direct strain feedback with PID control approach for a flexible manipulator: experimental results Mohd Zaidi, Mohd Tumari Mohd Ashraf, Ahmad Saealal, Muhammad Salihin Mohd Anwar, Zawawi Z., Mohamed N. M., Yusop TK Electrical engineering. Electronics Nuclear engineering Flexible manipulator (FM) is a robotic arm that can accomplish different tasks and the arm is a lightweight type, which means at least one dimension of their cross section is relatively small compared to their length. This project presents the development of direct strain feedback (DSFB) with PID controller for vibration control of a FM system. Strain gauge is the main sensor used as a strain measurement for giving a feedback to the system. The strain measurement also has been used as a displacement sensor at the endpoint of the link. The displacement was used to observe the performance of the system. The performances of the controllers are assessed in terms of the input tracking capability (desired position) and vibration reduction as compared to original system. Finally, the DSFB with PID has been implemented to achieve the desired performance. IEEE 2011 Conference or Workshop Item PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/25714/1/The%20direct%20strain%20feedback%20with%20PID%20control%20approach%20for%20a%20flexible%20manipulator.pdf Mohd Zaidi, Mohd Tumari and Mohd Ashraf, Ahmad and Saealal, Muhammad Salihin and Mohd Anwar, Zawawi and Z., Mohamed and N. M., Yusop (2011) The direct strain feedback with PID control approach for a flexible manipulator: experimental results. In: 11th International Conference on Control, Automation and System (ICCAS 2011), 26-29 October 2011 , Gyeonggi-do, South Korea. pp. 7-12. (6106370). ISSN 2093-7121 ISBN 978-89-93215-03-8 (Print); 978-1-4577-0835-0 (Online) https://ieeexplore.ieee.org/document/6106370
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 Zaidi, Mohd Tumari Mohd Ashraf, Ahmad Saealal, Muhammad Salihin Mohd Anwar, Zawawi Z., Mohamed N. M., Yusop The direct strain feedback with PID control approach for a flexible manipulator: experimental results
description	Flexible manipulator (FM) is a robotic arm that can accomplish different tasks and the arm is a lightweight type, which means at least one dimension of their cross section is relatively small compared to their length. This project presents the development of direct strain feedback (DSFB) with PID controller for vibration control of a FM system. Strain gauge is the main sensor used as a strain measurement for giving a feedback to the system. The strain measurement also has been used as a displacement sensor at the endpoint of the link. The displacement was used to observe the performance of the system. The performances of the controllers are assessed in terms of the input tracking capability (desired position) and vibration reduction as compared to original system. Finally, the DSFB with PID has been implemented to achieve the desired performance.
format	Conference or Workshop Item
author	Mohd Zaidi, Mohd Tumari Mohd Ashraf, Ahmad Saealal, Muhammad Salihin Mohd Anwar, Zawawi Z., Mohamed N. M., Yusop
author_facet	Mohd Zaidi, Mohd Tumari Mohd Ashraf, Ahmad Saealal, Muhammad Salihin Mohd Anwar, Zawawi Z., Mohamed N. M., Yusop
author_sort	Mohd Zaidi, Mohd Tumari
title	The direct strain feedback with PID control approach for a flexible manipulator: experimental results
title_short	The direct strain feedback with PID control approach for a flexible manipulator: experimental results
title_full	The direct strain feedback with PID control approach for a flexible manipulator: experimental results
title_fullStr	The direct strain feedback with PID control approach for a flexible manipulator: experimental results
title_full_unstemmed	The direct strain feedback with PID control approach for a flexible manipulator: experimental results
title_sort	direct strain feedback with pid control approach for a flexible manipulator: experimental results
publisher	IEEE
publishDate	2011
url	http://umpir.ump.edu.my/id/eprint/25714/ http://umpir.ump.edu.my/id/eprint/25714/ http://umpir.ump.edu.my/id/eprint/25714/1/The%20direct%20strain%20feedback%20with%20PID%20control%20approach%20for%20a%20flexible%20manipulator.pdf
first_indexed	2023-09-18T22:39:39Z
last_indexed	2023-09-18T22:39:39Z
_version_	1777416828943859712

The direct strain feedback with PID control approach for a flexible manipulator: experimental results

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