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Command shaping vibration control of flexible robot manipulators

M. O., Tokhi and Z., Mohamed (2004) Command shaping vibration control of flexible robot manipulators. In: Recent research developments in sound and vibration. Transworld Research Network, India, pp. 151-173. ISBN 81-7895-119-3

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Abstract

This article presents investigations into the development of command shaping techniques for vibration control of a flexible robot manipulator. Command shaping techniques based on input shaping, low-pass and band-stop filtering are considered and comparative performance assessment of the techniques is provided. A bang-bang torque input is used to determine the dynamic response parameters of the system for design and evaluation of the control techniques. Controllers are designed based on the identified natural frequencies and damping ratios of the system. Experimental results of the responses of the flexible robot manipulator to the unshaped, 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 the natural frequencies, time response specifications and robustness to variation in natural frequencies.

Item Type:Book Section
Uncontrolled Keywords:experimental study, input shaping, time frequency domain method, modeling, low pass filter, frequency response, control synthesis, bang bang control, energy gap, manipulator, response variability, natural frequency, free vibration, active system, robotics, vibration control
Subjects:T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions:Electrical Engineering
ID Code:25798
Deposited By: Liza Porijo
Deposited On:13 Jun 2012 04:09
Last Modified:25 Jun 2012 07:49

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