Composite Fuzzy Logic Control Approach to a Flexible Joint Manipulator

The raised complicatedness of the dynamics of a robot manipulator considering joint elasticity makes conventional model‐based control strategies complex and hard to synthesize. This paper presents investigations into the development of hybrid intelligent control schemes for the trajectory tracking a...

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Main Authors:	Mohd Zaidi, Mohd Tumari, Mohd Ashraf, Ahmad, Ahmad Nor Kasruddin, Nasir
Format:	Article
Language:	English
Published:	InTech 2013
Subjects:	TJ Mechanical engineering and machinery TA Engineering (General). Civil engineering (General)
Online Access:	http://umpir.ump.edu.my/id/eprint/3398/ http://umpir.ump.edu.my/id/eprint/3398/ http://umpir.ump.edu.my/id/eprint/3398/ http://umpir.ump.edu.my/id/eprint/3398/1/Composite_Fuzzy_Logic_Control_Approach.pdf

id	ump-3398
recordtype	eprints
spelling	ump-33982018-04-12T07:49:05Z http://umpir.ump.edu.my/id/eprint/3398/ Composite Fuzzy Logic Control Approach to a Flexible Joint Manipulator Mohd Zaidi, Mohd Tumari Mohd Ashraf, Ahmad Ahmad Nor Kasruddin, Nasir TJ Mechanical engineering and machinery TA Engineering (General). Civil engineering (General) The raised complicatedness of the dynamics of a robot manipulator considering joint elasticity makes conventional model‐based control strategies complex and hard to synthesize. This paper presents investigations into the development of hybrid intelligent control schemes for the trajectory tracking and vibration control of a flexible joint manipulator. To study the effectiveness of the controllers, a collocated proportional‐derivative (PD)-type Fuzzy Logic Controller (FLC) is first developed for the tip angular position control of a flexible joint manipulator. This is then extended to incorporate a non‐collocated Fuzzy Logic Controller, a non‐collocated proportional‐integral‐derivative (PID)and an input-shaping scheme for the vibration reduction of the flexible joint system. The positive zero‐vibration‐derivative‐derivative (ZVDD) shaper is designed based on the properties of the system. The implementation result 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. InTech 2013 Article NonPeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/3398/1/Composite_Fuzzy_Logic_Control_Approach.pdf Mohd Zaidi, Mohd Tumari and Mohd Ashraf, Ahmad and Ahmad Nor Kasruddin, Nasir (2013) Composite Fuzzy Logic Control Approach to a Flexible Joint Manipulator. International Journal of Advanced Robotic Systems, 10. ISSN 1729-8806 http://dx.doi.org/ 10.5772/52562 DOI : 10.5772/52562
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English
topic	TJ Mechanical engineering and machinery TA Engineering (General). Civil engineering (General)
spellingShingle	TJ Mechanical engineering and machinery TA Engineering (General). Civil engineering (General) Mohd Zaidi, Mohd Tumari Mohd Ashraf, Ahmad Ahmad Nor Kasruddin, Nasir Composite Fuzzy Logic Control Approach to a Flexible Joint Manipulator
description	The raised complicatedness of the dynamics of a robot manipulator considering joint elasticity makes conventional model‐based control strategies complex and hard to synthesize. This paper presents investigations into the development of hybrid intelligent control schemes for the trajectory tracking and vibration control of a flexible joint manipulator. To study the effectiveness of the controllers, a collocated proportional‐derivative (PD)-type Fuzzy Logic Controller (FLC) is first developed for the tip angular position control of a flexible joint manipulator. This is then extended to incorporate a non‐collocated Fuzzy Logic Controller, a non‐collocated proportional‐integral‐derivative (PID)and an input-shaping scheme for the vibration reduction of the flexible joint system. The positive zero‐vibration‐derivative‐derivative (ZVDD) shaper is designed based on the properties of the system. The implementation result 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	Article
author	Mohd Zaidi, Mohd Tumari Mohd Ashraf, Ahmad Ahmad Nor Kasruddin, Nasir
author_facet	Mohd Zaidi, Mohd Tumari Mohd Ashraf, Ahmad Ahmad Nor Kasruddin, Nasir
author_sort	Mohd Zaidi, Mohd Tumari
title	Composite Fuzzy Logic Control Approach to a Flexible Joint Manipulator
title_short	Composite Fuzzy Logic Control Approach to a Flexible Joint Manipulator
title_full	Composite Fuzzy Logic Control Approach to a Flexible Joint Manipulator
title_fullStr	Composite Fuzzy Logic Control Approach to a Flexible Joint Manipulator
title_full_unstemmed	Composite Fuzzy Logic Control Approach to a Flexible Joint Manipulator
title_sort	composite fuzzy logic control approach to a flexible joint manipulator
publisher	InTech
publishDate	2013
url	http://umpir.ump.edu.my/id/eprint/3398/ http://umpir.ump.edu.my/id/eprint/3398/ http://umpir.ump.edu.my/id/eprint/3398/ http://umpir.ump.edu.my/id/eprint/3398/1/Composite_Fuzzy_Logic_Control_Approach.pdf
first_indexed	2023-09-18T21:57:40Z
last_indexed	2023-09-18T21:57:40Z
_version_	1777414187377491968

Composite Fuzzy Logic Control Approach to a Flexible Joint Manipulator

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