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Vibration suppression techniques in feedback control of a very flexible robot manipulator

Ahmad, M.A and Mohamed , Zahar and Ishak, Haszuraidah and Nasir, A.N.K (2008) Vibration suppression techniques in feedback control of a very flexible robot manipulator. In: Proceedings - 2nd Asia International Conference on Modelling and Simulation, AMS 2008 .

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Official URL: http://dx.doi.org/10.1109/AMS.2008.58

Abstract

This paper presents the use of angular position control approaches for a flexible robot manipulator with disturbances effect in the dynamic system. Delayed Feedback Signal (DFS) and Proportional-Derivative (PD) controller are the techniques proposed in this investigation to actively control the vibrations of flexible structure. A constrained planar single-link flexible manipulator is considered and the dynamic model of the system is derived using the assume mode method. A complete analysis of simulation results for each technique is presented in time domain and frequency domain respectively. Performances of the controller are examined in terms of vibration suppression and disturbances cancellation. Finally, a comparative assessment of the impact of each controller on the system performance is presented and discussed.

Item Type:Conference or Workshop Item (Paper)
Subjects:T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions:Electrical Engineering
ID Code:7576
Deposited By: Maznira Sylvia Azra Mansor
Deposited On:09 Jan 2009 03:40
Last Modified:01 Jun 2010 15:53

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