Vibration Control Strategy for Flexible Joint Manipulator: A Fuzzy Logic Control Approach
The increased complexity of the dynamics of robots manipulator considering joint elasticity makes conventional model-based control strategies complex and difficult to synthesize. This paper presents investigations into the development of composite Fuzzy Logic Control for trajectory tracking and vibr...
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| Format: | Conference or Workshop Item |
| Language: | English |
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2010
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| Online Access: | http://umpir.ump.edu.my/id/eprint/2442/ http://umpir.ump.edu.my/id/eprint/2442/2/Vibration_Control_Strategy_for_Flexible_Joint_Manipulator_A_Fuzzy_Logic_Control_Approach.pdf |
| _version_ | 1848817054708137984 |
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| author | Mohd Ashraf, Ahmad Raja Mohd Taufika, Raja Ismail Mohd Syakirin, Ramli |
| author_facet | Mohd Ashraf, Ahmad Raja Mohd Taufika, Raja Ismail Mohd Syakirin, Ramli |
| author_sort | Mohd Ashraf, Ahmad |
| building | UMP Institutional Repository |
| collection | Online Access |
| description | The increased complexity of the dynamics of robots manipulator considering joint elasticity makes conventional model-based control strategies complex and difficult to synthesize. This paper presents investigations into the development of composite Fuzzy Logic Control for trajectory tracking and vibration control of a flexible joint manipulator. To study the effectiveness of the controllers, a PD-type Fuzzy Logic Controller is developed for tip angular position control of a flexible joint manipulator. This is then extended to incorporate a non-collocated Fuzzy Logic Controller for vibration reduction of the flexible joint system. Simulation results of the response of the flexible joint manipulator with the controllers are presented in time and frequency domains. The performances of the composite Fuzzy Logic control schemes are examined in terms of input tracking capability, level of vibration reduction and time response specifications. Finally, a comparative assessment of the control techniques is presented and discussed.
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| first_indexed | 2025-11-15T01:15:40Z |
| format | Conference or Workshop Item |
| id | ump-2442 |
| institution | Universiti Malaysia Pahang |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T01:15:40Z |
| publishDate | 2010 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | ump-24422018-02-08T02:07:48Z http://umpir.ump.edu.my/id/eprint/2442/ Vibration Control Strategy for Flexible Joint Manipulator: A Fuzzy Logic Control Approach Mohd Ashraf, Ahmad Raja Mohd Taufika, Raja Ismail Mohd Syakirin, Ramli TK Electrical engineering. Electronics Nuclear engineering The increased complexity of the dynamics of robots manipulator considering joint elasticity makes conventional model-based control strategies complex and difficult to synthesize. This paper presents investigations into the development of composite Fuzzy Logic Control for trajectory tracking and vibration control of a flexible joint manipulator. To study the effectiveness of the controllers, a PD-type Fuzzy Logic Controller is developed for tip angular position control of a flexible joint manipulator. This is then extended to incorporate a non-collocated Fuzzy Logic Controller for vibration reduction of the flexible joint system. Simulation results of the response of the flexible joint manipulator with the controllers are presented in time and frequency domains. The performances of the composite Fuzzy Logic control schemes are examined in terms of input tracking capability, level of vibration reduction and time response specifications. Finally, a comparative assessment of the control techniques is presented and discussed. 2010 Conference or Workshop Item PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/2442/2/Vibration_Control_Strategy_for_Flexible_Joint_Manipulator_A_Fuzzy_Logic_Control_Approach.pdf Mohd Ashraf, Ahmad and Raja Mohd Taufika, Raja Ismail and Mohd Syakirin, Ramli (2010) Vibration Control Strategy for Flexible Joint Manipulator: A Fuzzy Logic Control Approach. In: IEEE Symposium on Industrial Electronics and Applications 2010 , 3-5 Oct.2010 , Penang, Malaysia. pp. 469-474.. (Published) http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=5679419&contentType=Conference+Publications&searchField%3DSearch_All%26queryText%3DVibration+Control+Strategy+for+Flexible+Joint+Manipulator%3A+A+Fuzzy+Logic+Control+Approach |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Mohd Ashraf, Ahmad Raja Mohd Taufika, Raja Ismail Mohd Syakirin, Ramli Vibration Control Strategy for Flexible Joint Manipulator: A Fuzzy Logic Control Approach |
| title | Vibration Control Strategy for Flexible Joint Manipulator: A Fuzzy Logic Control Approach
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| title_full | Vibration Control Strategy for Flexible Joint Manipulator: A Fuzzy Logic Control Approach
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| title_fullStr | Vibration Control Strategy for Flexible Joint Manipulator: A Fuzzy Logic Control Approach
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| title_full_unstemmed | Vibration Control Strategy for Flexible Joint Manipulator: A Fuzzy Logic Control Approach
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| title_short | Vibration Control Strategy for Flexible Joint Manipulator: A Fuzzy Logic Control Approach
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| title_sort | vibration control strategy for flexible joint manipulator: a fuzzy logic control approach |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://umpir.ump.edu.my/id/eprint/2442/ http://umpir.ump.edu.my/id/eprint/2442/ http://umpir.ump.edu.my/id/eprint/2442/2/Vibration_Control_Strategy_for_Flexible_Joint_Manipulator_A_Fuzzy_Logic_Control_Approach.pdf |