Modeling and control of a multi degree of freedom flexible joint manipulator

—The paper describes the model of a two flexible joint manipulator and the development of a nonlinear passivity based control method for that model. For dynamic modeling, the Euler-Language approach is selected to model flexible joint manipulator. Since lightweight materials are employed in...

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Main Authors:	Akhtaruzzaman, Md., Akmeliawati, Rini, Teh, Wai Yee
Format:	Conference or Workshop Item
Language:	English
Published:	2009
Subjects:	TJ212 Control engineering
Online Access:	http://irep.iium.edu.my/5392/ http://irep.iium.edu.my/5392/ http://irep.iium.edu.my/5392/ http://irep.iium.edu.my/5392/1/ICCEE2009.pdf

id	iium-5392
recordtype	eprints
spelling	iium-53922012-01-25T00:23:47Z http://irep.iium.edu.my/5392/ Modeling and control of a multi degree of freedom flexible joint manipulator Akhtaruzzaman, Md. Akmeliawati, Rini Teh, Wai Yee TJ212 Control engineering —The paper describes the model of a two flexible joint manipulator and the development of a nonlinear passivity based control method for that model. For dynamic modeling, the Euler-Language approach is selected to model flexible joint manipulator. Since lightweight materials are employed in the construction of manipulator, the assumption that negligible link deformation no longer applies. A nonlinear passivitybased control method for rigid flexible joint as well as flexible link is proposed here. The main idea of Passivity Based Controller (PBC) is to use energy state of a system to provide stabilization. The PBC is developed to achieve two goals: set point regulation and trajectory tracking. The controller brings the end point from unstable position to a certain stable position. Beside that, the controller are developed to control the position of there end-point in such a way that it tracks the desired trajectory which are tested by simulations. 2009-01-15 Conference or Workshop Item PeerReviewed application/pdf en http://irep.iium.edu.my/5392/1/ICCEE2009.pdf Akhtaruzzaman, Md. and Akmeliawati, Rini and Teh, Wai Yee (2009) Modeling and control of a multi degree of freedom flexible joint manipulator. In: 2009 2nd International Conference on Computer and Electrical Engineering (ICCEE), 28 - 30 December 2009, Dubai, UAE. http://dx.doi.org/10.1109/ICCEE.2009.100 doi:10.1109/ICCEE.2009.100
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English
topic	TJ212 Control engineering
spellingShingle	TJ212 Control engineering Akhtaruzzaman, Md. Akmeliawati, Rini Teh, Wai Yee Modeling and control of a multi degree of freedom flexible joint manipulator
description	—The paper describes the model of a two flexible joint manipulator and the development of a nonlinear passivity based control method for that model. For dynamic modeling, the Euler-Language approach is selected to model flexible joint manipulator. Since lightweight materials are employed in the construction of manipulator, the assumption that negligible link deformation no longer applies. A nonlinear passivitybased control method for rigid flexible joint as well as flexible link is proposed here. The main idea of Passivity Based Controller (PBC) is to use energy state of a system to provide stabilization. The PBC is developed to achieve two goals: set point regulation and trajectory tracking. The controller brings the end point from unstable position to a certain stable position. Beside that, the controller are developed to control the position of there end-point in such a way that it tracks the desired trajectory which are tested by simulations.
format	Conference or Workshop Item
author	Akhtaruzzaman, Md. Akmeliawati, Rini Teh, Wai Yee
author_facet	Akhtaruzzaman, Md. Akmeliawati, Rini Teh, Wai Yee
author_sort	Akhtaruzzaman, Md.
title	Modeling and control of a multi degree of freedom flexible joint manipulator
title_short	Modeling and control of a multi degree of freedom flexible joint manipulator
title_full	Modeling and control of a multi degree of freedom flexible joint manipulator
title_fullStr	Modeling and control of a multi degree of freedom flexible joint manipulator
title_full_unstemmed	Modeling and control of a multi degree of freedom flexible joint manipulator
title_sort	modeling and control of a multi degree of freedom flexible joint manipulator
publishDate	2009
url	http://irep.iium.edu.my/5392/ http://irep.iium.edu.my/5392/ http://irep.iium.edu.my/5392/ http://irep.iium.edu.my/5392/1/ICCEE2009.pdf
first_indexed	2023-09-18T20:13:58Z
last_indexed	2023-09-18T20:13:58Z
_version_	1777407663746842624

Modeling and control of a multi degree of freedom flexible joint manipulator

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