• Login
    View Item 
    •   DSpace Home
    • Professional Associations
    • IEM Journal
    • View Item
    •   DSpace Home
    • Professional Associations
    • IEM Journal
    • View Item
    JavaScript is disabled for your browser. Some features of this site may not work without it.

    Hybrid input shaping and PID control of a flexible robot manipulator

    Thumbnail
    View/Open
    56-62Sep2009.pdf (891.7Kb)
    Date
    2009-09
    Author
    Mohd Ashraf, Ahmad
    Zahar, Mohamed
    Z. H., Ismail
    Metadata
    Show full item record
    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.
    URI
    http://www.myiem.org.my/content/iem_journal_2009-180.aspx
    http://dspace.unimap.edu.my/123456789/13681
    Collections
    • IEM Journal [310]

    Atmire NV

    Perpustakaan Tuanku Syed Faizuddin Putra (PTSFP) | Send Feedback
     

     

    Browse

    All of UniMAP Library Digital RepositoryCommunities & CollectionsBy Issue DateAuthorsTitlesSubjectsThis CollectionBy Issue DateAuthorsTitlesSubjects

    My Account

    LoginRegister

    Statistics

    View Usage Statistics

    Atmire NV

    Perpustakaan Tuanku Syed Faizuddin Putra (PTSFP) | Send Feedback