Composite PD and Fuzzy Logic Approach for Vibration of Elastic Joint Manipulator

被引：0

作者：

Ahmad, Mohd Ashraf ^{[1
]}

Ismail, Raja Mohd Taufika Raja ^{[1
]}

Ramli, Mohd Syakirin ^{[1
]}

Zawawi, Mohd Anwar ^{[1
]}

Suid, Mohd Helmi ^{[1
]}

机构：

[1] Univ Malaysia Pahang, Fac Elect & Elect Engn, Pekan, Pahang, Malaysia

来源：

INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2010) | 2010年

关键词：

Collocated PD; Fuzzy Logic Control; vibration control; flexible joint manipulator;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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 collocated proportional-derivative (PD) and Fuzzy Logic Control for trajectory tracking and vibration control of a flexible joint manipulator respectively. To study the effectiveness of the controllers, a collocated PD 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 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.

引用

页码：2175 / 2180

页数：6

共 17 条

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