Simple Pole Placement Controller for Elastic Joint Manipulator
This paper presents investigations into the development of simple pole placement controller for tip angular position tracking and deflection reduction of an elastic joint manipulator system. A Quanser elastic joint manipulator is considered and the dynamic model of the system is derived using the Eu...
| Main Authors: | , , , , |
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| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
2012
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| Subjects: | |
| Online Access: | http://umpir.ump.edu.my/id/eprint/3434/ http://umpir.ump.edu.my/id/eprint/3434/1/p116-suid.pdf |
| _version_ | 1848817233952768000 |
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| author | Mohd Helmi, Suid Mohd Zaidi, Mohd Tumari Muhammad Salihin, Saealal Yasmin, Abdul Wahab Mohd Riduwan, Ghazali |
| author_facet | Mohd Helmi, Suid Mohd Zaidi, Mohd Tumari Muhammad Salihin, Saealal Yasmin, Abdul Wahab Mohd Riduwan, Ghazali |
| author_sort | Mohd Helmi, Suid |
| building | UMP Institutional Repository |
| collection | Online Access |
| description | This paper presents investigations into the development of simple pole placement controller for tip angular position tracking and deflection reduction of an elastic joint manipulator system. A Quanser elastic joint manipulator is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. The pole placement controller is designed based on integral state feedback structure and the feedback gain is computed based on the desired time response specifications of tip angular position. The proposed control scheme is also compared with a hybrid Linear Quadratic Regulator (LQR) with input shaper control scheme. The performances of the control schemes are assessed in terms of tip angular tracking capability, level of deflection angle reduction and time response specifications. Finally, a comparative assessment of the control techniques is presented and discussed. |
| first_indexed | 2025-11-15T01:18:31Z |
| format | Conference or Workshop Item |
| id | ump-3434 |
| institution | Universiti Malaysia Pahang |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T01:18:31Z |
| publishDate | 2012 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | ump-34342018-03-20T08:01:39Z http://umpir.ump.edu.my/id/eprint/3434/ Simple Pole Placement Controller for Elastic Joint Manipulator Mohd Helmi, Suid Mohd Zaidi, Mohd Tumari Muhammad Salihin, Saealal Yasmin, Abdul Wahab Mohd Riduwan, Ghazali TJ Mechanical engineering and machinery This paper presents investigations into the development of simple pole placement controller for tip angular position tracking and deflection reduction of an elastic joint manipulator system. A Quanser elastic joint manipulator is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. The pole placement controller is designed based on integral state feedback structure and the feedback gain is computed based on the desired time response specifications of tip angular position. The proposed control scheme is also compared with a hybrid Linear Quadratic Regulator (LQR) with input shaper control scheme. The performances of the control schemes are assessed in terms of tip angular tracking capability, level of deflection angle reduction and time response specifications. Finally, a comparative assessment of the control techniques is presented and discussed. 2012 Conference or Workshop Item PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/3434/1/p116-suid.pdf Mohd Helmi, Suid and Mohd Zaidi, Mohd Tumari and Muhammad Salihin, Saealal and Yasmin, Abdul Wahab and Mohd Riduwan, Ghazali (2012) Simple Pole Placement Controller for Elastic Joint Manipulator. In: 19th International Conference on Mechatronics and Machine Vision in Practice (M2VIP12) , 28-30 November 2012 , Auckland, New Zealand. pp. 116-121.. (Published) |
| spellingShingle | TJ Mechanical engineering and machinery Mohd Helmi, Suid Mohd Zaidi, Mohd Tumari Muhammad Salihin, Saealal Yasmin, Abdul Wahab Mohd Riduwan, Ghazali Simple Pole Placement Controller for Elastic Joint Manipulator |
| title | Simple Pole Placement Controller for Elastic Joint Manipulator |
| title_full | Simple Pole Placement Controller for Elastic Joint Manipulator |
| title_fullStr | Simple Pole Placement Controller for Elastic Joint Manipulator |
| title_full_unstemmed | Simple Pole Placement Controller for Elastic Joint Manipulator |
| title_short | Simple Pole Placement Controller for Elastic Joint Manipulator |
| title_sort | simple pole placement controller for elastic joint manipulator |
| topic | TJ Mechanical engineering and machinery |
| url | http://umpir.ump.edu.my/id/eprint/3434/ http://umpir.ump.edu.my/id/eprint/3434/1/p116-suid.pdf |