Precise tip positioning of a flexible manipulator using resonant control

A single-link flexible manipulator is fabricated to represent a typical flexible robotic arm. This flexible manipulator is modeled as an SIMO system with the motor torque as the input and the hub angle and the tip position as the outputs. The two transfer functions are identified using a frequency-d...

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Main Authors:	Mahmood, Iskandar Al-Thani, Moheimani, S. O. Reza, Bhikkaji, Bharath
Format:	Article
Language:	English
Published:	Institute of Electrical and Electronics Engineers ( IEEE ) 2008
Subjects:	Q Science (General) TJ212 Control engineering
Online Access:	http://irep.iium.edu.my/5212/ http://irep.iium.edu.my/5212/ http://irep.iium.edu.my/5212/ http://irep.iium.edu.my/5212/1/Precise_Tip_Positioning_of_a_Flexible_Manipulator_Using_Resonant_Control.pdf

id	iium-5212
recordtype	eprints
spelling	iium-52122012-06-11T05:47:36Z http://irep.iium.edu.my/5212/ Precise tip positioning of a flexible manipulator using resonant control Mahmood, Iskandar Al-Thani Moheimani, S. O. Reza Bhikkaji, Bharath Q Science (General) TJ212 Control engineering A single-link flexible manipulator is fabricated to represent a typical flexible robotic arm. This flexible manipulator is modeled as an SIMO system with the motor torque as the input and the hub angle and the tip position as the outputs. The two transfer functions are identified using a frequency-domain system identification method, and the resonant modes are determined. A feedback loop around the hub angle response with a resonant controller is designed to damp the resonant modes. A high-gain integral controller is also implemented to achieve zero steady-state error in the tip position response. Experiments are performed to demonstrate the effectiveness of the proposed control scheme. Institute of Electrical and Electronics Engineers ( IEEE ) 2008-04 Article PeerReviewed application/pdf en http://irep.iium.edu.my/5212/1/Precise_Tip_Positioning_of_a_Flexible_Manipulator_Using_Resonant_Control.pdf Mahmood, Iskandar Al-Thani and Moheimani, S. O. Reza and Bhikkaji, Bharath (2008) Precise tip positioning of a flexible manipulator using resonant control. IEEE/ASME Transactions on Mechatronics, 13 (2). 180 -186. ISSN 1083-4435 http://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=3516 10.1109/TMECH.2008.918494
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English
topic	Q Science (General) TJ212 Control engineering
spellingShingle	Q Science (General) TJ212 Control engineering Mahmood, Iskandar Al-Thani Moheimani, S. O. Reza Bhikkaji, Bharath Precise tip positioning of a flexible manipulator using resonant control
description	A single-link flexible manipulator is fabricated to represent a typical flexible robotic arm. This flexible manipulator is modeled as an SIMO system with the motor torque as the input and the hub angle and the tip position as the outputs. The two transfer functions are identified using a frequency-domain system identification method, and the resonant modes are determined. A feedback loop around the hub angle response with a resonant controller is designed to damp the resonant modes. A high-gain integral controller is also implemented to achieve zero steady-state error in the tip position response. Experiments are performed to demonstrate the effectiveness of the proposed control scheme.
format	Article
author	Mahmood, Iskandar Al-Thani Moheimani, S. O. Reza Bhikkaji, Bharath
author_facet	Mahmood, Iskandar Al-Thani Moheimani, S. O. Reza Bhikkaji, Bharath
author_sort	Mahmood, Iskandar Al-Thani
title	Precise tip positioning of a flexible manipulator using resonant control
title_short	Precise tip positioning of a flexible manipulator using resonant control
title_full	Precise tip positioning of a flexible manipulator using resonant control
title_fullStr	Precise tip positioning of a flexible manipulator using resonant control
title_full_unstemmed	Precise tip positioning of a flexible manipulator using resonant control
title_sort	precise tip positioning of a flexible manipulator using resonant control
publisher	Institute of Electrical and Electronics Engineers ( IEEE )
publishDate	2008
url	http://irep.iium.edu.my/5212/ http://irep.iium.edu.my/5212/ http://irep.iium.edu.my/5212/ http://irep.iium.edu.my/5212/1/Precise_Tip_Positioning_of_a_Flexible_Manipulator_Using_Resonant_Control.pdf
first_indexed	2023-09-18T20:13:42Z
last_indexed	2023-09-18T20:13:42Z
_version_	1777407646987452416

Precise tip positioning of a flexible manipulator using resonant control

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