Command shaping techniques for vibration control of a flexible robot manipulator

This paper presents an investigation into development of feed-forward control strategies for vibration control of a flexible robot manipulator using command shaping techniques based on input shaping, low-pass and band-stop filtering. A constrained planar single-link flexible manipulator is considere...

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Main Authors: Mohamed, Zaharudin, Tokhi, Mohammad Osman
Format: Article
Language:English
Published: Elsevier 2004
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Online Access:http://eprints.utm.my/id/eprint/9848/1/ZMohamed2004_command_shaping_techniques_for_vibration.pdf
http://eprints.utm.my/id/eprint/9848/
http://dx.doi.org/10.1016/S0957-4158(03)00013-8
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Institution: Universiti Teknologi Malaysia
Language: English
id my.utm.9848
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spelling my.utm.98482017-02-28T08:31:26Z http://eprints.utm.my/id/eprint/9848/ Command shaping techniques for vibration control of a flexible robot manipulator Mohamed, Zaharudin Tokhi, Mohammad Osman TK Electrical engineering. Electronics Nuclear engineering This paper presents an investigation into development of feed-forward control strategies for vibration control of a flexible robot manipulator using command shaping techniques based on input shaping, low-pass and band-stop filtering. A constrained planar single-link flexible manipulator is considered and the dynamic model of the system is derived using the finite element method. An unshaped bang–bang torque input is used to determine the characteristic parameters of the system for design and evaluation of the control techniques. Feed-forward controllers are designed based on the natural frequencies and damping ratios of the system. Simulation results of the response of the manipulator to the shaped and filtered inputs are presented in time and frequency domains. Performances of the techniques are assessed in terms of level of vibration reduction at resonance modes, speed of response, robustness and computational complexity. The effects of number of impulse sequence and filter order on the performance of the system are investigated. Finally, a comparative assessment of the input shaping and input-filtering techniques is presented and discussed. Elsevier 2004-02 Article PeerReviewed application/pdf en http://eprints.utm.my/id/eprint/9848/1/ZMohamed2004_command_shaping_techniques_for_vibration.pdf Mohamed, Zaharudin and Tokhi, Mohammad Osman (2004) Command shaping techniques for vibration control of a flexible robot manipulator. Mechatronics, 14 (1). pp. 69-90. ISSN 0957-4158 http://dx.doi.org/10.1016/S0957-4158(03)00013-8 doi:10.1016/S0957-4158(03)00013-8
institution Universiti Teknologi Malaysia
building UTM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknologi Malaysia
content_source UTM Institutional Repository
url_provider http://eprints.utm.my/
language English
topic TK Electrical engineering. Electronics Nuclear engineering
spellingShingle TK Electrical engineering. Electronics Nuclear engineering
Mohamed, Zaharudin
Tokhi, Mohammad Osman
Command shaping techniques for vibration control of a flexible robot manipulator
description This paper presents an investigation into development of feed-forward control strategies for vibration control of a flexible robot manipulator using command shaping techniques based on input shaping, low-pass and band-stop filtering. A constrained planar single-link flexible manipulator is considered and the dynamic model of the system is derived using the finite element method. An unshaped bang–bang torque input is used to determine the characteristic parameters of the system for design and evaluation of the control techniques. Feed-forward controllers are designed based on the natural frequencies and damping ratios of the system. Simulation results of the response of the manipulator to the shaped and filtered inputs are presented in time and frequency domains. Performances of the techniques are assessed in terms of level of vibration reduction at resonance modes, speed of response, robustness and computational complexity. The effects of number of impulse sequence and filter order on the performance of the system are investigated. Finally, a comparative assessment of the input shaping and input-filtering techniques is presented and discussed.
format Article
author Mohamed, Zaharudin
Tokhi, Mohammad Osman
author_facet Mohamed, Zaharudin
Tokhi, Mohammad Osman
author_sort Mohamed, Zaharudin
title Command shaping techniques for vibration control of a flexible robot manipulator
title_short Command shaping techniques for vibration control of a flexible robot manipulator
title_full Command shaping techniques for vibration control of a flexible robot manipulator
title_fullStr Command shaping techniques for vibration control of a flexible robot manipulator
title_full_unstemmed Command shaping techniques for vibration control of a flexible robot manipulator
title_sort command shaping techniques for vibration control of a flexible robot manipulator
publisher Elsevier
publishDate 2004
url http://eprints.utm.my/id/eprint/9848/1/ZMohamed2004_command_shaping_techniques_for_vibration.pdf
http://eprints.utm.my/id/eprint/9848/
http://dx.doi.org/10.1016/S0957-4158(03)00013-8
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