Simple Pole Placement Controller for Elastic Joint Manipulator

This paper presents investigations into the development of simple pole placement controller for tip angular position tracking and deflection reduction of an elastic joint manipulator system. A Quanser elastic joint manipulator is considered and the dynamic model of the system is derived using the Eu...

Full description

Bibliographic Details
Main Authors:	Mohd Helmi, Suid, Mohd Zaidi, Mohd Tumari, Muhammad Salihin, Saealal, Yasmin, Abdul Wahab, Mohd Riduwan, Ghazali
Format:	Conference or Workshop Item
Language:	English
Published:	2012
Subjects:	TJ Mechanical engineering and machinery
Online Access:	http://umpir.ump.edu.my/id/eprint/3434/ http://umpir.ump.edu.my/id/eprint/3434/1/p116-suid.pdf

id	ump-3434
recordtype	eprints
spelling	ump-34342018-03-20T08:01:39Z http://umpir.ump.edu.my/id/eprint/3434/ Simple Pole Placement Controller for Elastic Joint Manipulator Mohd Helmi, Suid Mohd Zaidi, Mohd Tumari Muhammad Salihin, Saealal Yasmin, Abdul Wahab Mohd Riduwan, Ghazali TJ Mechanical engineering and machinery This paper presents investigations into the development of simple pole placement controller for tip angular position tracking and deflection reduction of an elastic joint manipulator system. A Quanser elastic joint manipulator is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. The pole placement controller is designed based on integral state feedback structure and the feedback gain is computed based on the desired time response specifications of tip angular position. The proposed control scheme is also compared with a hybrid Linear Quadratic Regulator (LQR) with input shaper control scheme. The performances of the control schemes are assessed in terms of tip angular tracking capability, level of deflection angle reduction and time response specifications. Finally, a comparative assessment of the control techniques is presented and discussed. 2012 Conference or Workshop Item PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/3434/1/p116-suid.pdf Mohd Helmi, Suid and Mohd Zaidi, Mohd Tumari and Muhammad Salihin, Saealal and Yasmin, Abdul Wahab and Mohd Riduwan, Ghazali (2012) Simple Pole Placement Controller for Elastic Joint Manipulator. In: 19th International Conference on Mechatronics and Machine Vision in Practice (M2VIP12), 28-30 November 2012 , Auckland, New Zealand. pp. 116-121..
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
spellingShingle	TJ Mechanical engineering and machinery Mohd Helmi, Suid Mohd Zaidi, Mohd Tumari Muhammad Salihin, Saealal Yasmin, Abdul Wahab Mohd Riduwan, Ghazali Simple Pole Placement Controller for Elastic Joint Manipulator
description	This paper presents investigations into the development of simple pole placement controller for tip angular position tracking and deflection reduction of an elastic joint manipulator system. A Quanser elastic joint manipulator is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. The pole placement controller is designed based on integral state feedback structure and the feedback gain is computed based on the desired time response specifications of tip angular position. The proposed control scheme is also compared with a hybrid Linear Quadratic Regulator (LQR) with input shaper control scheme. The performances of the control schemes are assessed in terms of tip angular tracking capability, level of deflection angle reduction and time response specifications. Finally, a comparative assessment of the control techniques is presented and discussed.
format	Conference or Workshop Item
author	Mohd Helmi, Suid Mohd Zaidi, Mohd Tumari Muhammad Salihin, Saealal Yasmin, Abdul Wahab Mohd Riduwan, Ghazali
author_facet	Mohd Helmi, Suid Mohd Zaidi, Mohd Tumari Muhammad Salihin, Saealal Yasmin, Abdul Wahab Mohd Riduwan, Ghazali
author_sort	Mohd Helmi, Suid
title	Simple Pole Placement Controller for Elastic Joint Manipulator
title_short	Simple Pole Placement Controller for Elastic Joint Manipulator
title_full	Simple Pole Placement Controller for Elastic Joint Manipulator
title_fullStr	Simple Pole Placement Controller for Elastic Joint Manipulator
title_full_unstemmed	Simple Pole Placement Controller for Elastic Joint Manipulator
title_sort	simple pole placement controller for elastic joint manipulator
publishDate	2012
url	http://umpir.ump.edu.my/id/eprint/3434/ http://umpir.ump.edu.my/id/eprint/3434/1/p116-suid.pdf
first_indexed	2023-09-18T21:57:44Z
last_indexed	2023-09-18T21:57:44Z
_version_	1777414192160047104

Simple Pole Placement Controller for Elastic Joint Manipulator

Similar Items