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 a 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-do...

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Bibliographic Details
Main Authors:	Mahmood, Iskandar Al-Thani, Moheimani, S. O. Reza, Bhikkaji, Bharath
Format:	Conference or Workshop Item
Language:	English
Published:	2007
Subjects:	Q Science (General) TJ212 Control engineering
Online Access:	http://irep.iium.edu.my/5308/ http://irep.iium.edu.my/5308/1/Precise_tip_positioning_of_a_flexible_manipulator_using_resonant_control.pdf

id	iium-5308
recordtype	eprints
spelling	iium-53082012-06-11T05:51:30Z http://irep.iium.edu.my/5308/ 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 a 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. 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 designed to achieve zero steady-state error in the tip position response. Experiments are performed to demonstrate the effectiveness of the proposed control scheme. 2007-09 Conference or Workshop Item PeerReviewed application/pdf en http://irep.iium.edu.my/5308/1/Precise_tip_positioning_of_a_flexible_manipulator_using_resonant_control.pdf Mahmood, Iskandar Al-Thani and Moheimani, S. O. Reza and Bhikkaji, Bharath (2007) Precise tip positioning of a flexible manipulator using resonant control. In: IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2007, 4-7 September 2007, Zurich, Switzerland.
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 a 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. 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 designed to achieve zero steady-state error in the tip position response. Experiments are performed to demonstrate the effectiveness of the proposed control scheme.
format	Conference or Workshop Item
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
publishDate	2007
url	http://irep.iium.edu.my/5308/ http://irep.iium.edu.my/5308/1/Precise_tip_positioning_of_a_flexible_manipulator_using_resonant_control.pdf
first_indexed	2023-09-18T20:13:50Z
last_indexed	2023-09-18T20:13:50Z
_version_	1777407655017447424

Precise tip positioning of a flexible manipulator using resonant control

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