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...

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Main Author:	Mohd Ashraf, Ahmad
Format:	Conference or Workshop Item
Language:	English
Published:	2010
Subjects:	TJ Mechanical engineering and machinery
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

id	ump-2037
recordtype	eprints
spelling	ump-20372018-02-06T01:07:55Z http://umpir.ump.edu.my/id/eprint/2037/ Non-collocated Fuzzy Logic and Input Shaping Control Strategy for Elastic Joint Manipulator: Vibration Suppression and Time Response Analysis Mohd Ashraf, Ahmad TJ Mechanical engineering and machinery 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. 2010 Conference or Workshop Item PeerReviewed application/pdf en 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 Mohd Ashraf, Ahmad (2010) Non-collocated Fuzzy Logic and Input Shaping Control Strategy for Elastic Joint Manipulator: Vibration Suppression and Time Response Analysis. In: Fourth Asia International Conference on Mathematical/Analytical Modelling and Computer Simulation (AMS2010), 26 - 28 May 2010 , Kota Kinabalu, Borneo. .
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English
topic	TJ Mechanical engineering and machinery
spellingShingle	TJ Mechanical engineering and machinery Mohd Ashraf, Ahmad Non-collocated Fuzzy Logic and Input Shaping Control Strategy for Elastic Joint Manipulator: Vibration Suppression and Time Response Analysis
description	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.
format	Conference or Workshop Item
author	Mohd Ashraf, Ahmad
author_facet	Mohd Ashraf, Ahmad
author_sort	Mohd Ashraf, Ahmad
title	Non-collocated Fuzzy Logic and Input Shaping Control Strategy for Elastic Joint Manipulator: Vibration Suppression and Time Response Analysis
title_short	Non-collocated Fuzzy Logic and Input Shaping Control Strategy for Elastic Joint Manipulator: Vibration Suppression and Time Response Analysis
title_full	Non-collocated Fuzzy Logic and Input Shaping Control Strategy for Elastic Joint Manipulator: Vibration Suppression and Time Response Analysis
title_fullStr	Non-collocated Fuzzy Logic and Input Shaping Control Strategy for Elastic Joint Manipulator: Vibration Suppression and Time Response Analysis
title_full_unstemmed	Non-collocated Fuzzy Logic and Input Shaping Control Strategy for Elastic Joint Manipulator: Vibration Suppression and Time Response Analysis
title_sort	non-collocated fuzzy logic and input shaping control strategy for elastic joint manipulator: vibration suppression and time response analysis
publishDate	2010
url	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
first_indexed	2023-09-18T21:55:31Z
last_indexed	2023-09-18T21:55:31Z
_version_	1777414052618698752

Non-collocated Fuzzy Logic and Input Shaping Control Strategy for Elastic Joint Manipulator: Vibration Suppression and Time Response Analysis

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