Precise tip positioning of a flexible manipulator using resonant control
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-d...
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| Format: | Article |
| Language: | English |
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Institute of Electrical and Electronics Engineers ( IEEE )
2008
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| Online Access: | http://irep.iium.edu.my/5212/ http://irep.iium.edu.my/5212/1/Precise_Tip_Positioning_of_a_Flexible_Manipulator_Using_Resonant_Control.pdf |
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| author | Mahmood, Iskandar Al-Thani Moheimani, S. O. Reza Bhikkaji, Bharath |
| author_facet | Mahmood, Iskandar Al-Thani Moheimani, S. O. Reza Bhikkaji, Bharath |
| author_sort | Mahmood, Iskandar Al-Thani |
| building | IIUM Repository |
| collection | Online Access |
| 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. |
| first_indexed | 2025-11-14T14:30:28Z |
| format | Article |
| id | iium-5212 |
| institution | International Islamic University Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-14T14:30:28Z |
| publishDate | 2008 |
| publisher | Institute of Electrical and Electronics Engineers ( IEEE ) |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | iium-52122012-06-11T05:47:36Z http://irep.iium.edu.my/5212/ Precise tip positioning of a flexible manipulator using resonant control Mahmood, Iskandar Al-Thani Moheimani, S. O. Reza Bhikkaji, Bharath Q Science (General) TJ212 Control engineering 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. Institute of Electrical and Electronics Engineers ( IEEE ) 2008-04 Article PeerReviewed application/pdf en http://irep.iium.edu.my/5212/1/Precise_Tip_Positioning_of_a_Flexible_Manipulator_Using_Resonant_Control.pdf Mahmood, Iskandar Al-Thani and Moheimani, S. O. Reza and Bhikkaji, Bharath (2008) Precise tip positioning of a flexible manipulator using resonant control. IEEE/ASME Transactions on Mechatronics, 13 (2). 180 -186. ISSN 1083-4435 http://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=3516 10.1109/TMECH.2008.918494 |
| spellingShingle | Q Science (General) TJ212 Control engineering Mahmood, Iskandar Al-Thani Moheimani, S. O. Reza Bhikkaji, Bharath Precise tip positioning of a flexible manipulator using resonant control |
| title | Precise tip positioning of a flexible manipulator using resonant control |
| title_full | Precise tip positioning of a flexible manipulator using resonant control |
| title_fullStr | Precise tip positioning of a flexible manipulator using resonant control |
| title_full_unstemmed | Precise tip positioning of a flexible manipulator using resonant control |
| title_short | Precise tip positioning of a flexible manipulator using resonant control |
| title_sort | precise tip positioning of a flexible manipulator using resonant control |
| topic | Q Science (General) TJ212 Control engineering |
| url | http://irep.iium.edu.my/5212/ http://irep.iium.edu.my/5212/ http://irep.iium.edu.my/5212/ http://irep.iium.edu.my/5212/1/Precise_Tip_Positioning_of_a_Flexible_Manipulator_Using_Resonant_Control.pdf |