Vibration Control Strategy for Flexible Joint Manipulator: A Fuzzy Logic Control Approach

Mohd Ashraf, Ahmad and Raja Mohd Taufika, Raja Ismail and Mohd Syakirin, Ramli (2010) Vibration Control Strategy for Flexible Joint Manipulator: A Fuzzy Logic Control Approach. In: IEEE Symposium on Industrial Electronics and Applications 2010, 3-5 Oct.2010 , Penang, Malaysia. pp. 469-474..


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The increased complexity of the dynamics of robots manipulator considering joint elasticity makes conventional model-based control strategies complex and difficult to synthesize. This paper presents investigations into the development of composite Fuzzy Logic Control for trajectory tracking and vibration control of a flexible joint manipulator. To study the effectiveness of the controllers, a PD-type Fuzzy Logic Controller is developed for tip angular position control of a flexible joint manipulator. This is then extended to incorporate a non-collocated Fuzzy Logic Controller for vibration reduction of the flexible joint 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 composite Fuzzy Logic 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: Conference Publication- IEEE Xplore Digital Library Print ISBN: 978-1-4244-7645-9
Uncontrolled Keywords: PD control,Fuzzy control,Manipulator dynamics,Position control,Vibration control
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Faculty/Division: Faculty of Electrical & Electronic Engineering
Depositing User: Pn. Hazlinda Abd Rahman
Date Deposited: 19 Apr 2012 06:03
Last Modified: 08 Feb 2018 02:07
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