Hybrid input shaping and PID control of a flexible robot manipulator
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The Institution of Engineers, Malaysia
2011
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| Online Access: | http://dspace.unimap.edu.my/xmlui/handle/123456789/13681 |
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my.unimap-136812011-09-07T19:19:00Z Hybrid input shaping and PID control of a flexible robot manipulator Mohd Ashraf, Ahmad Zahar, Mohamed Z. H., Ismail mashraf@ump.edu.my.com zahar@fke.utm.my Flexible manipulator Input shaping PID control Vibration control Link to publisher's homepage at http://www.myiem.org.my/ This paper presents experimental investigations into the development of hybrid input shaping and PID control for vibration suppression and input tracking of a flexible robot manipulator. Initially, a PID controller is developed for control of rigid-body motion of the system. This is then extended to incorporate a feedforward controller based on input shaping techniques for vibration control. Experimental results of the response of the manipulator with the controllers are presented in time and frequency domain. The effects of derivative order of the input shaper on the performance of the system are also investigated. The performances of the hybrid control schemes are assessed in terms of input tracking capability and level of vibration reduction in comparison to the PID control. Finally, a comparative assessment of the hybrid control schemes is presented. 2011-09-07T19:19:00Z 2011-09-07T19:19:00Z 2009-09 Article The Journal of the Institution of Engineers, Malaysia, vol. 72(3), 2009, pages 56-62 0126-513X http://www.myiem.org.my/content/iem_journal_2009-180.aspx http://hdl.handle.net/123456789/13681 en The Institution of Engineers, Malaysia |
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Universiti Malaysia Perlis |
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Asia |
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Malaysia |
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Universiti Malaysia Perlis |
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http://dspace.unimap.edu.my/ |
| language |
English |
| topic |
Flexible manipulator Input shaping PID control Vibration control |
| spellingShingle |
Flexible manipulator Input shaping PID control Vibration control Mohd Ashraf, Ahmad Zahar, Mohamed Z. H., Ismail Hybrid input shaping and PID control of a flexible robot manipulator |
| description |
Link to publisher's homepage at http://www.myiem.org.my/ |
| author2 |
mashraf@ump.edu.my.com |
| author_facet |
mashraf@ump.edu.my.com Mohd Ashraf, Ahmad Zahar, Mohamed Z. H., Ismail |
| format |
Article |
| author |
Mohd Ashraf, Ahmad Zahar, Mohamed Z. H., Ismail |
| author_sort |
Mohd Ashraf, Ahmad |
| title |
Hybrid input shaping and PID control of a flexible robot manipulator |
| title_short |
Hybrid input shaping and PID control of a flexible robot manipulator |
| title_full |
Hybrid input shaping and PID control of a flexible robot manipulator |
| title_fullStr |
Hybrid input shaping and PID control of a flexible robot manipulator |
| title_full_unstemmed |
Hybrid input shaping and PID control of a flexible robot manipulator |
| title_sort |
hybrid input shaping and pid control of a flexible robot manipulator |
| publisher |
The Institution of Engineers, Malaysia |
| publishDate |
2011 |
| url |
http://dspace.unimap.edu.my/xmlui/handle/123456789/13681 |
| _version_ |
1643790970584563712 |