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Vibration Suppression Techniques in Feedback Control Loop of a Flexible Robot Manipulator

Mohd Ashraf Ahmad, and Zaharuddin Mohamed, (2008) Vibration Suppression Techniques in Feedback Control Loop of a Flexible Robot Manipulator. Modern Applied Science, 2 (2). pp. 59-70. ISSN 1913-1844

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Affiliations

Universiti Malaysia Pahang
Universiti Teknologi Malaysia

Abstract

This paper presents the use of angular position control approaches for a flexible robot manipulator with disturbances effect in the dynamic system. Delayed Feedback Signal (DFS), Linear Quadratic Regulator (LQR) and Proportional-Derivative (PD) controller are the techniques used in this investigation to actively control the vibrations of flexible structure. A constrained planar single-link flexible manipulator is considered and the dynamic model of the system is derived using the assumed mode method. A complete analysis of simulation results for each technique is presented in time domain and frequency domain respectively. Performances of the controller are examined in terms of vibration suppression and disturbances cancellation. Finally, a comparative assessment of the impact of each controller on the system performance is presented and discussed.

Item Type:Journal
Keywords:Flexible manipulator, vibration control, delayed feedback signal, linear quadratic regulator, PD controller
Subjects:T Technology, Engineering
ID Code:4177

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