Modeling and control of a multi degree of freedom flexible joint manipulator
—The paper describes the model of a two flexible joint manipulator and the development of a nonlinear passivity based control method for that model. For dynamic modeling, the Euler-Language approach is selected to model flexible joint manipulator. Since lightweight materials are employed in...
| Main Authors: | , , |
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| Format: | Proceeding Paper |
| Language: | English |
| Published: |
2009
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/5392/ http://irep.iium.edu.my/5392/1/ICCEE2009.pdf |
| _version_ | 1848776495213838336 |
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| author | Akhtaruzzaman, Md. Akmeliawati, Rini Teh, Wai Yee |
| author_facet | Akhtaruzzaman, Md. Akmeliawati, Rini Teh, Wai Yee |
| author_sort | Akhtaruzzaman, Md. |
| building | IIUM Repository |
| collection | Online Access |
| description | —The paper describes the model of a two flexible joint
manipulator and the development of a nonlinear passivity
based control method for that model. For dynamic modeling,
the Euler-Language approach is selected to model flexible joint
manipulator. Since lightweight materials are employed in the
construction of manipulator, the assumption that negligible
link deformation no longer applies. A nonlinear passivitybased control method for rigid flexible joint as well as flexible
link is proposed here. The main idea of Passivity Based
Controller (PBC) is to use energy state of a system to provide
stabilization. The PBC is developed to achieve two goals: set
point regulation and trajectory tracking. The controller brings
the end point from unstable position to a certain stable
position. Beside that, the controller are developed to control
the position of there end-point in such a way that it tracks the
desired trajectory which are tested by simulations. |
| first_indexed | 2025-11-14T14:31:00Z |
| format | Proceeding Paper |
| id | iium-5392 |
| institution | International Islamic University Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-14T14:31:00Z |
| publishDate | 2009 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | iium-53922012-01-25T00:23:47Z http://irep.iium.edu.my/5392/ Modeling and control of a multi degree of freedom flexible joint manipulator Akhtaruzzaman, Md. Akmeliawati, Rini Teh, Wai Yee TJ212 Control engineering —The paper describes the model of a two flexible joint manipulator and the development of a nonlinear passivity based control method for that model. For dynamic modeling, the Euler-Language approach is selected to model flexible joint manipulator. Since lightweight materials are employed in the construction of manipulator, the assumption that negligible link deformation no longer applies. A nonlinear passivitybased control method for rigid flexible joint as well as flexible link is proposed here. The main idea of Passivity Based Controller (PBC) is to use energy state of a system to provide stabilization. The PBC is developed to achieve two goals: set point regulation and trajectory tracking. The controller brings the end point from unstable position to a certain stable position. Beside that, the controller are developed to control the position of there end-point in such a way that it tracks the desired trajectory which are tested by simulations. 2009-01-15 Proceeding Paper PeerReviewed application/pdf en http://irep.iium.edu.my/5392/1/ICCEE2009.pdf Akhtaruzzaman, Md. and Akmeliawati, Rini and Teh, Wai Yee (2009) Modeling and control of a multi degree of freedom flexible joint manipulator. In: 2009 2nd International Conference on Computer and Electrical Engineering (ICCEE), 28 - 30 December 2009, Dubai, UAE. http://dx.doi.org/10.1109/ICCEE.2009.100 doi:10.1109/ICCEE.2009.100 |
| spellingShingle | TJ212 Control engineering Akhtaruzzaman, Md. Akmeliawati, Rini Teh, Wai Yee Modeling and control of a multi degree of freedom flexible joint manipulator |
| title | Modeling and control of a multi degree of freedom flexible joint manipulator |
| title_full | Modeling and control of a multi degree of freedom flexible joint manipulator |
| title_fullStr | Modeling and control of a multi degree of freedom flexible joint manipulator |
| title_full_unstemmed | Modeling and control of a multi degree of freedom flexible joint manipulator |
| title_short | Modeling and control of a multi degree of freedom flexible joint manipulator |
| title_sort | modeling and control of a multi degree of freedom flexible joint manipulator |
| topic | TJ212 Control engineering |
| url | http://irep.iium.edu.my/5392/ http://irep.iium.edu.my/5392/ http://irep.iium.edu.my/5392/ http://irep.iium.edu.my/5392/1/ICCEE2009.pdf |