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Trajectory Tracking Controller for flexible robot arm

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dc.citedby3
dc.contributor.authorAli M.A.en_US
dc.contributor.authorIsmail F.B.en_US
dc.contributor.authorSahari K.en_US
dc.contributor.authorWeria K.en_US
dc.contributor.authorMoslem Y.en_US
dc.contributor.authorIzaizi R.en_US
dc.contributor.authorAbdollahian M.en_US
dc.contributor.authorid57214142487en_US
dc.contributor.authorid58027086700en_US
dc.contributor.authorid57218170038en_US
dc.contributor.authorid57151269200en_US
dc.contributor.authorid57151424200en_US
dc.contributor.authorid57151520600en_US
dc.contributor.authorid55906828400en_US
dc.date.accessioned2023-05-29T05:59:45Z
dc.date.available2023-05-29T05:59:45Z
dc.date.issued2015
dc.descriptionDamping; Flexible manipulators; Fuzzy logic; Manipulators; Manufacture; Proportional control systems; Robot applications; Robotic arms; Robotics; Sliding mode control; Three term control systems; Tracking (position); Trajectories; Two term control systems; Uncertainty analysis; Flexible robot manipulators; PD controllers; PID controllers; Tracking controller; Vibration-damping; Controllersen_US
dc.description.abstractThe most important benefits of flexible link manipulator include high payload-To-Arm weight ratio. The reduction of weight leads to increase of the link elasticity that significantly complicates the control of the manipulator. The difficulty in control is caused by the fact that the link model is a distributed parameter plant. In this case, several elastic modes are required to achieve sufficiently high accuracy. Plus, the plant has several uncertain parameters (payload mass, hub and structural damping factors, etc.) that influence the systems performance. In this paper, Trajectory Tracking Controller is suggested by utilizing the hybrid controller approach to overcome the problem of vibration of tip position through motion which is a characteristic of the flexible link system. A modified version of the proportional-derivative rigid controller to track the hub position while sliding mode control was used for vibration damping. Also, a second controller (a fuzzy logic based proportional integral plus derivative control scheme was developed for both vibration damping and trajectory tracking. Results are illustrated in the robust performance of the proposed tip position tracking controllers over the payload variation. A good performance is obtained for the trajectory tracking. The stability of these controllers is also proved. � 2014 IEEE.en_US
dc.description.natureFinalen_US
dc.identifier.ArtNo7295859
dc.identifier.doi10.1109/ROMA.2014.7295859
dc.identifier.epage45
dc.identifier.scopus2-s2.0-84959510030
dc.identifier.spage39
dc.identifier.urihttps://www.scopus.com/inward/record.uri?eid=2-s2.0-84959510030&doi=10.1109%2fROMA.2014.7295859&partnerID=40&md5=f95583a003e7f222112ca60406f7f205
dc.identifier.urihttps://irepository.uniten.edu.my/handle/123456789/22233
dc.publisherInstitute of Electrical and Electronics Engineers Inc.en_US
dc.sourceScopus
dc.sourcetitle2014 IEEE International Symposium on Robotics and Manufacturing Automation, IEEE-ROMA2014
dc.titleTrajectory Tracking Controller for flexible robot armen_US
dc.typeConference Paperen_US
dspace.entity.typePublication
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