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ABSTRACT: <br /> <br /> <br /> <br /> <br /> The main object of this study is concentrated on vibration and position control of a single link flexible manipulator. Robot link manipulators are widely used in various industrial applications. It is desirable to build...
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id-itb.:59192017-09-27T11:43:02Z#TITLE_ALTERNATIVE# Tarwidi (NIM 10103057), Dede Indonesia Final Project INSTITUT TEKNOLOGI BANDUNG https://digilib.itb.ac.id/gdl/view/5919 ABSTRACT: <br /> <br /> <br /> <br /> <br /> The main object of this study is concentrated on vibration and position control of a single link flexible manipulator. Robot link manipulators are widely used in various industrial applications. It is desirable to build light weight flexible manipulators. <br /> <br /> <br /> <br /> <br /> Light flexible manipulators have a variety of applications, most significantly in space exploration, manufacturing automation, construction, mining, and hazardous operation. Timoshenko beam theory is used to derive mathematical model of a flexible manipulator. The dynamic equations of motion are obtained using the Lagranges formulation of dynamics. The H controller is designed for vibration and position control of the system. Simulations are presented and show that vibration and position control of a single flexible link can be controlled with the designed H controller. text |
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ABSTRACT: <br />
<br />
<br />
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The main object of this study is concentrated on vibration and position control of a single link flexible manipulator. Robot link manipulators are widely used in various industrial applications. It is desirable to build light weight flexible manipulators. <br />
<br />
<br />
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Light flexible manipulators have a variety of applications, most significantly in space exploration, manufacturing automation, construction, mining, and hazardous operation. Timoshenko beam theory is used to derive mathematical model of a flexible manipulator. The dynamic equations of motion are obtained using the Lagranges formulation of dynamics. The H controller is designed for vibration and position control of the system. Simulations are presented and show that vibration and position control of a single flexible link can be controlled with the designed H controller. |
| format |
Final Project |
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Tarwidi (NIM 10103057), Dede |
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Tarwidi (NIM 10103057), Dede #TITLE_ALTERNATIVE# |
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Tarwidi (NIM 10103057), Dede |
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Tarwidi (NIM 10103057), Dede |
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https://digilib.itb.ac.id/gdl/view/5919 |
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