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Title: Hybrid input shaping and PID control of a flexible robot manipulator
Authors: Mohd Ashraf, Ahmad
Zahar, Mohamed
Z. H., Ismail
???metadata.dc.contributor.url???: mashraf@ump.edu.my.com
Keywords: Flexible manipulator;Input shaping;PID control;Vibration control
Issue Date: Sep-2009
Publisher: The Institution of Engineers, Malaysia
Citation: The Journal of the Institution of Engineers, Malaysia, vol. 72(3), 2009, pages 56-62
Abstract: This paper presents experimental investigations into the development of hybrid input shaping and PID control for vibration suppression and input tracking of a flexible robot manipulator. Initially, a PID controller is developed for control of rigid-body motion of the system. This is then extended to incorporate a feedforward controller based on input shaping techniques for vibration control. Experimental results of the response of the manipulator with the controllers are presented in time and frequency domain. The effects of derivative order of the input shaper on the performance of the system are also investigated. The performances of the hybrid control schemes are assessed in terms of input tracking capability and level of vibration reduction in comparison to the PID control. Finally, a comparative assessment of the hybrid control schemes is presented.
Description: Link to publisher's homepage at http://www.myiem.org.my/
URI: http://www.myiem.org.my/content/iem_journal_2009-180.aspx
ISSN: 0126-513X
Appears in Collections:IEM Journal

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