- Title
- Precise tip positioning of a flexible manipulator using resonant control
- Creator
- Mahmood, I. A.; Moheimani, S. O. Reza; Bhikkaji, B.
- Relation
- IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Proceedings IEEE/ASME International Conference on Advanced Intelligent Mechatronics (Zurich, Switzerland 2007) p. 1-6
- Publisher Link
- http://dx.doi.org/10.1109/AIM.2007.4412473
- Publisher
- Institute of Electrical and Electronics Engineers (IEEE)
- Resource Type
- conference paper
- Date
- 2007
- Description
- A single-link flexible manipulator is fabricated to represent a typical flexible robotic arm. This flexible manipulator is modeled as an SIMO system with the motor torque as the input and the hub angle and the tip position as the outputs. The two transfer functions are identified using a frequency-domain system identification method, and the resonant modes are determined. A feedback loop around the hub angle response with a resonant controller is designed to damp the resonant modes. A high-gain integral controller is also implemented to achieve zero steady-state error in the tip position response. Experiments are performed to demonstrate the effectiveness of the proposed control scheme.
- Subject
- flexible manipulator; integral controller; resonant controller; tip positioning
- Identifier
- http://hdl.handle.net/1959.13/29887
- Identifier
- uon:2634
- Identifier
- ISBN:978-1-4244-1264-8
- Rights
- Copyright © 2007 IEEE. Reprinted from Proceedings IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 1-6. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Newcastle's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.
- Language
- eng
- Full Text
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