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Non-collocated Fuzzy Logic and Input Shaping Control Strategy for Elastic Joint Manipulator: Vibration Suppression and Time Response Analysis

Mohd Ashraf, Ahmad (2010) Non-collocated Fuzzy Logic and Input Shaping Control Strategy for Elastic Joint Manipulator: Vibration Suppression and Time Response Analysis. In: Fourth Asia International Conference on Mathematical/Analytical Modelling and Computer Simulation (AMS2010), 26 - 28 May 2010 , Kota Kinabalu, Borneo. .

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Abstract

Conventional model-based control strategies are very complex and difficult to synthesize due to high complexity of the dynamics of robots manipulator considering joint elasticity. This paper presents investigations into the development of hybrid control schemes for trajectory tracking and vibration control of a flexible joint manipulator. To study the effectiveness of the controllers, initially a collocated proportional-derivative (PD)- type Fuzzy Logic Controller (FLC) is developed for tip angular position control of a flexible joint manipulator. This is then extended to incorporate a non-collocated Fuzzy Logic Controller and input shaping scheme for vibration reduction of the flexible joint system. The positive zero-vibration-derivative-derivative (ZVDD) shaper is designed based on the properties of the 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 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.

Item Type: Conference or Workshop Item (Paper)
Additional Information: M. A. Ahmad, R. M. T. Raja Ismail, M. S. Ramli, M. A. Zawawi, Y. Abdul Wahab, and M.H. Suid Faculty of Electrical Engineering, Universiti Malaysia Pahang, 26600, Pekan, Malaysia
Uncontrolled Keywords: Elastic joint, vibration control, input shaping, fuzzy logic control
Subjects: T Technology > TJ Mechanical engineering and machinery
Faculty/Division: Faculty of Electrical & Electronic Engineering
Depositing User: Zairi Ibrahim
Date Deposited: 30 Dec 2011 03:56
Last Modified: 06 Feb 2018 01:07
URI: http://umpir.ump.edu.my/id/eprint/2037
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