Vibration control of single link flexible manipulator by using neural network

This project presents simulation on minimizing vibration error in single link flexible manipulator system by using neural network system. Flexible manipulator system has a flexible link, an actuator-gear mechanism to rotate the link, an optical encoder to measure joint rotation, accelerometers and s...

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Bibliographic Details
Main Author:	Muhammad Zulhilmi, Zakaria
Format:	Undergraduates Project Papers
Language:	English
Published:	2013
Subjects:	TA Engineering (General). Civil engineering (General)
Online Access:	http://umpir.ump.edu.my/id/eprint/8582/ http://umpir.ump.edu.my/id/eprint/8582/ http://umpir.ump.edu.my/id/eprint/8582/1/CD8055_%40_71.pdf

id	ump-8582
recordtype	eprints
spelling	ump-85822015-11-04T08:07:42Z http://umpir.ump.edu.my/id/eprint/8582/ Vibration control of single link flexible manipulator by using neural network Muhammad Zulhilmi, Zakaria TA Engineering (General). Civil engineering (General) This project presents simulation on minimizing vibration error in single link flexible manipulator system by using neural network system. Flexible manipulator system has a flexible link, an actuator-gear mechanism to rotate the link, an optical encoder to measure joint rotation, accelerometers and strain gauges to sense flexible motion, an optical arrangement to measure the endpoint position and an occasional force sensor attached to the end-point. The overall aim of this project is to develop a dynamic modeling and controller for single link flexible manipulator. In spite of it, we need to minimize the vibration using neural network controller in single link flexible manipulator. The vibration error that occurs in the flexible manipulator is needed to be study and try to reduce it by using the controller (neural network). Towards this thesis, the single link flexible manipulator system being minimize the error by using intelligent neural network controller, and be compared with system existing controller (PID) and the system without controller so that we can see the clearly error percentage reduced. In order to achieve the objective for this project, mathematical model will develop based on system identification using different method such as Lagrage method, Euler-Beurnoulli and System Identification Toolbox in MATLAB and implement it in Mathlab simulink. The results that we achieved is the neural network give the best in order to minimize the vibration error compared to the system without controller about 60% reduction of error and 10% of reduction of error when compared with system with PID controller. Conclusively, the intelligent neural network give us the better results and followed the characteristic of single link flexible manipulator as we desired. 2013-06 Undergraduates Project Papers NonPeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/8582/1/CD8055_%40_71.pdf Muhammad Zulhilmi, Zakaria (2013) Vibration control of single link flexible manipulator by using neural network. Faculty of Mechanical Engineering , Universiti Malaysia Pahang. http://iportal.ump.edu.my/lib/item?id=chamo:83919&theme=UMP2
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English
topic	TA Engineering (General). Civil engineering (General)
spellingShingle	TA Engineering (General). Civil engineering (General) Muhammad Zulhilmi, Zakaria Vibration control of single link flexible manipulator by using neural network
description	This project presents simulation on minimizing vibration error in single link flexible manipulator system by using neural network system. Flexible manipulator system has a flexible link, an actuator-gear mechanism to rotate the link, an optical encoder to measure joint rotation, accelerometers and strain gauges to sense flexible motion, an optical arrangement to measure the endpoint position and an occasional force sensor attached to the end-point. The overall aim of this project is to develop a dynamic modeling and controller for single link flexible manipulator. In spite of it, we need to minimize the vibration using neural network controller in single link flexible manipulator. The vibration error that occurs in the flexible manipulator is needed to be study and try to reduce it by using the controller (neural network). Towards this thesis, the single link flexible manipulator system being minimize the error by using intelligent neural network controller, and be compared with system existing controller (PID) and the system without controller so that we can see the clearly error percentage reduced. In order to achieve the objective for this project, mathematical model will develop based on system identification using different method such as Lagrage method, Euler-Beurnoulli and System Identification Toolbox in MATLAB and implement it in Mathlab simulink. The results that we achieved is the neural network give the best in order to minimize the vibration error compared to the system without controller about 60% reduction of error and 10% of reduction of error when compared with system with PID controller. Conclusively, the intelligent neural network give us the better results and followed the characteristic of single link flexible manipulator as we desired.
format	Undergraduates Project Papers
author	Muhammad Zulhilmi, Zakaria
author_facet	Muhammad Zulhilmi, Zakaria
author_sort	Muhammad Zulhilmi, Zakaria
title	Vibration control of single link flexible manipulator by using neural network
title_short	Vibration control of single link flexible manipulator by using neural network
title_full	Vibration control of single link flexible manipulator by using neural network
title_fullStr	Vibration control of single link flexible manipulator by using neural network
title_full_unstemmed	Vibration control of single link flexible manipulator by using neural network
title_sort	vibration control of single link flexible manipulator by using neural network
publishDate	2013
url	http://umpir.ump.edu.my/id/eprint/8582/ http://umpir.ump.edu.my/id/eprint/8582/ http://umpir.ump.edu.my/id/eprint/8582/1/CD8055_%40_71.pdf
first_indexed	2023-09-18T22:06:19Z
last_indexed	2023-09-18T22:06:19Z
_version_	1777414731645059072

Vibration control of single link flexible manipulator by using neural network

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