Non-collocated Fuzzy Logic and Input Shaping Control Strategy for Elastic Joint Manipulator: Vibration Suppression and Time Response Analysis
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 vibrat...
| Main Author: | |
|---|---|
| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
2010
|
| Subjects: | |
| Online Access: | http://umpir.ump.edu.my/id/eprint/2037/ http://umpir.ump.edu.my/id/eprint/2037/1/Non-collocated_Fuzzy_Logic_and_Input_Shaping_Control_Strategy_for_Elastic_Joint_Manipulator__Vibration_Suppression_and_Time_Response_Analysis.pdf |
| Summary: | 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. |
|---|