Vibration and position control of a flexible manipulator
A single-link flexible manipulator is fabricated. This flexible manipulator is modeled as a 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 frequency-domain system identification. A polynomial based...
| Main Authors: | , , |
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| Format: | Proceeding Paper |
| Language: | English |
| Published: |
2007
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/32300/ http://irep.iium.edu.my/32300/1/Vibration_and_Position_Control_of_a_Flexible_Manipulator.pdf |
| _version_ | 1848780537965051904 |
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| author | Mahmood, Iskandar Al-Thani Bhikkaji, Bharath Moheimani, S.O. Reza |
| author_facet | Mahmood, Iskandar Al-Thani Bhikkaji, Bharath Moheimani, S.O. Reza |
| author_sort | Mahmood, Iskandar Al-Thani |
| building | IIUM Repository |
| collection | Online Access |
| description | A single-link flexible manipulator is fabricated. This flexible manipulator is modeled as a 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 frequency-domain system identification. A polynomial based feedback controller is designed to damp hub angle response. This controller also damps the tip position response. Apart from damping the system, the feedback controller also provides substantial robustness. Finally, an integral controller is also designed to achieve zero-steady state error in the tip position. |
| first_indexed | 2025-11-14T15:35:15Z |
| format | Proceeding Paper |
| id | iium-32300 |
| institution | International Islamic University Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-14T15:35:15Z |
| publishDate | 2007 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | iium-323002013-10-11T06:52:41Z http://irep.iium.edu.my/32300/ Vibration and position control of a flexible manipulator Mahmood, Iskandar Al-Thani Bhikkaji, Bharath Moheimani, S.O. Reza TJ212 Control engineering A single-link flexible manipulator is fabricated. This flexible manipulator is modeled as a 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 frequency-domain system identification. A polynomial based feedback controller is designed to damp hub angle response. This controller also damps the tip position response. Apart from damping the system, the feedback controller also provides substantial robustness. Finally, an integral controller is also designed to achieve zero-steady state error in the tip position. 2007 Proceeding Paper PeerReviewed application/pdf en http://irep.iium.edu.my/32300/1/Vibration_and_Position_Control_of_a_Flexible_Manipulator.pdf Mahmood, Iskandar Al-Thani and Bhikkaji, Bharath and Moheimani, S.O. Reza (2007) Vibration and position control of a flexible manipulator. In: Information Decision and Control (IDC 2007), 12-14 Feb 2007, Adelaide, Australia. http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=4252512&isnumber=4252450 |
| spellingShingle | TJ212 Control engineering Mahmood, Iskandar Al-Thani Bhikkaji, Bharath Moheimani, S.O. Reza Vibration and position control of a flexible manipulator |
| title | Vibration and position control of a flexible manipulator |
| title_full | Vibration and position control of a flexible manipulator |
| title_fullStr | Vibration and position control of a flexible manipulator |
| title_full_unstemmed | Vibration and position control of a flexible manipulator |
| title_short | Vibration and position control of a flexible manipulator |
| title_sort | vibration and position control of a flexible manipulator |
| topic | TJ212 Control engineering |
| url | http://irep.iium.edu.my/32300/ http://irep.iium.edu.my/32300/ http://irep.iium.edu.my/32300/1/Vibration_and_Position_Control_of_a_Flexible_Manipulator.pdf |