Precise tip positioning of a flexible manipulator using resonant control

• Main Authors: Mahmood, Iskandar Al-Thani, Moheimani, S. O. Reza, Bhikkaji, Bharath
• Format: Article
• Language: English
• Published: Institute of Electrical and Electronics Engineers ( IEEE ) 2008
• Subjects: Q Science (General); TJ212 Control engineering
• Online Access: http://irep.iium.edu.my/5212/1/Precise_Tip_Positioning_of_a_Flexible_Manipulator_Using_Resonant_Control.pdf; http://irep.iium.edu.my/5212/; http://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=3516
• Institution: Universiti Islam Antarabangsa Malaysia

A single-link flexible manipulator is fabricated to represent a typical flexible robotic arm. This flexible manipulator is modeled as an 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-d...