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Techniques for vibration control of a flexible robot manipulator

Mohamed, Zaharuddin and Chee, A.K. and Mohd Hashim, A.W.I. and Tokhi, Mohammad Osman and Mohd Amin, Shamsudin and Mamat, Rosbi (2006) Techniques for vibration control of a flexible robot manipulator. Robotica, 24 (4). pp. 499-511. ISSN 0263-5747

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Official URL: http://dx.doi.org/10.1017/S0263574705002511


This paper presents investigations into the applications and performance of positive and negative input shapers in command shaping techniques for the vibration control of a flexible robot manipulator. 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 input shaping control techniques. The positive and specified amplitude negative input shapers are designed based on the properties of the system. Simulation results of the response of the manipulator to the shaped inputs are presented in the time and frequency domains. Performances of the shapers are examined in terms of level of vibration reduction, time response specifications and robustness to parameters uncertainty. The effects of derivative order of the input shaper on the performance of the system are investigated. Finally, a comparative assessment of the impact amplitude polarities of the input shapers on the system performance is presented and discussed.

Item Type:Article
Uncontrolled Keywords:flexible manipulator, input shaping, simulation, vibration control
Subjects:T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions:Electrical Engineering
ID Code:7737
Deposited By: Norhafizah Hussin
Deposited On:15 Jan 2009 01:30
Last Modified:15 Sep 2009 03:41

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