Vibration control of a very flexible manipulator system
This paper presents experimental investigations into the development of feedforward and feedback control schemes for vibration control of a very flexible and high-friction manipulator system. A feedforward control scheme based on input shaping and low-pass filtering techniques and a strain feedback...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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Elsevier B.V.
2005
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| Subjects: | |
| Online Access: | http://eprints.utm.my/7735/ http://eprints.utm.my/7735/1/Zaharuddin_Mohamed_2005_Vibration_Control_of_a_Very_Flexible.pdf |
| _version_ | 1848891532954828800 |
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| author | Mohamed, Zaharuddin Martins, Jorge M. Tokhi, Mohammad Osman SaÌ? da Costa, JoseÌ? M G S Botto, Miguel Ayala |
| author_facet | Mohamed, Zaharuddin Martins, Jorge M. Tokhi, Mohammad Osman SaÌ? da Costa, JoseÌ? M G S Botto, Miguel Ayala |
| author_sort | Mohamed, Zaharuddin |
| building | UTeM Institutional Repository |
| collection | Online Access |
| description | This paper presents experimental investigations into the development of feedforward and feedback control schemes for vibration control of a very flexible and high-friction manipulator system. A feedforward control scheme based on input shaping and low-pass filtering techniques and a strain feedback control scheme are examined. To study the effectiveness of the controllers, initially a collocated PD control is developed for control of rigid body motion. The performances of the controllers are assessed in terms of the input tracking capability and vibration reduction as compared to the response with PD control. Moreover, the robustness of the feedforward control schemes is discussed. Finally, a comparative assessment of the control strategies is presented. |
| first_indexed | 2025-11-15T20:59:28Z |
| format | Article |
| id | utm-7735 |
| institution | Universiti Teknologi Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T20:59:28Z |
| publishDate | 2005 |
| publisher | Elsevier B.V. |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | utm-77352010-06-01T15:55:07Z http://eprints.utm.my/7735/ Vibration control of a very flexible manipulator system Mohamed, Zaharuddin Martins, Jorge M. Tokhi, Mohammad Osman SaÌ? da Costa, JoseÌ? M G S Botto, Miguel Ayala TK Electrical engineering. Electronics Nuclear engineering This paper presents experimental investigations into the development of feedforward and feedback control schemes for vibration control of a very flexible and high-friction manipulator system. A feedforward control scheme based on input shaping and low-pass filtering techniques and a strain feedback control scheme are examined. To study the effectiveness of the controllers, initially a collocated PD control is developed for control of rigid body motion. The performances of the controllers are assessed in terms of the input tracking capability and vibration reduction as compared to the response with PD control. Moreover, the robustness of the feedforward control schemes is discussed. Finally, a comparative assessment of the control strategies is presented. Elsevier B.V. 2005-03 Article PeerReviewed application/pdf en http://eprints.utm.my/7735/1/Zaharuddin_Mohamed_2005_Vibration_Control_of_a_Very_Flexible.pdf Mohamed, Zaharuddin and Martins, Jorge M. and Tokhi, Mohammad Osman and SaÌ? da Costa, JoseÌ? M G S and Botto, Miguel Ayala (2005) Vibration control of a very flexible manipulator system. Control Engineering Practice, 13 (3). pp. 267-277. ISSN 0967-0661 http://dx.doi.org/10.1016/j.conengprac.2003.11.014 10.1016/j.conengprac.2003.11.014 |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Mohamed, Zaharuddin Martins, Jorge M. Tokhi, Mohammad Osman SaÌ? da Costa, JoseÌ? M G S Botto, Miguel Ayala Vibration control of a very flexible manipulator system |
| title | Vibration control of a very flexible manipulator system |
| title_full | Vibration control of a very flexible manipulator system |
| title_fullStr | Vibration control of a very flexible manipulator system |
| title_full_unstemmed | Vibration control of a very flexible manipulator system |
| title_short | Vibration control of a very flexible manipulator system |
| title_sort | vibration control of a very flexible manipulator system |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://eprints.utm.my/7735/ http://eprints.utm.my/7735/ http://eprints.utm.my/7735/ http://eprints.utm.my/7735/1/Zaharuddin_Mohamed_2005_Vibration_Control_of_a_Very_Flexible.pdf |