You need JavaScript to view this

Non-collocated fuzzy logic and input shaping control strategy for elastic joint manipulator: vibration suppression and time response analysis

Abstract

Conventional model-based control strategies are very complex and difficult to synthesize due to high complexity of the dynamics of robots manipulator considering joint elasticity. This paper presents investigations into the development of hybrid control schemes for trajectory tracking and vibration control of a flexible joint manipulator. To study the effectiveness of the controllers, initially a collocated proportional-derivative (P D)-type Fuzzy Logic Controller (FLC) is developed for tip angular position control of a flexible joint manipulator. This is then extended to incorporate a non-collocated Fuzzy Logic Controller and input shaping scheme for vibration reduction of the flexible joint system. The positive zero-vibration-derivative-derivative (ZVDD) shaper is designed based on the properties of the 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 hybrid 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. (Author)
Authors:
Rashidifar, Mohammed Amin; [1]  Rashidifar, Ali Amin, E-mail: rashidifar_58@yahoo.com [2] 
  1. Faculty of Mechanical Engineering, Islamic Azad University, SHADEGAN (Iran, Islamic Republic of)
  2. Computer Science, Islamic Azad University, SHADEGAN (Iran, Islamic Republic of)
Publication Date:
Jul 01, 2014
Product Type:
Journal Article
Resource Relation:
Journal Name: Mechanical Engineering Scientific Journal (Skopje); Journal Volume: 32; Journal Issue: 1; Other Information: 15 refs., 9 figs., 4 tabs.; UDC: 681.515.8:534.83]:621.8-27
Subject:
42 ENGINEERING; COMPUTERIZED CONTROL SYSTEMS; COMPUTERIZED SIMULATION; DESIGN; DYNAMICS; FUZZY LOGIC; INHIBITION; JOINTS; MANIPULATORS; MECHANICAL VIBRATIONS; ROBOTS; TIME-SERIES ANALYSIS; TRAJECTORIES
OSTI ID:
22390246
Country of Origin:
Macedonia, The Former Yugoslav Republic of
Language:
English
Other Identifying Numbers:
Journal ID: ISSN 1857-5293; TRN: MK1500026095942
Availability:
Available from the National and University Library 'St. Kliment Ohridski', Skopje , Macedonia; also available online from: http://www.mesj.ukim.edu.mk/sites/default/files/Mech.%20Eng.%20sci.%20J.-32-1-2014-PDF_0.pdf or http://www.mesj.ukim.edu.mk/archive
Submitting Site:
INIS
Size:
page(s) 17-24
Announcement Date:
Oct 27, 2015

Citation Formats

Rashidifar, Mohammed Amin, and Rashidifar, Ali Amin, E-mail: rashidifar_58@yahoo.com. Non-collocated fuzzy logic and input shaping control strategy for elastic joint manipulator: vibration suppression and time response analysis. Macedonia, The Former Yugoslav Republic of: N. p., 2014. Web.
Rashidifar, Mohammed Amin, & Rashidifar, Ali Amin, E-mail: rashidifar_58@yahoo.com. Non-collocated fuzzy logic and input shaping control strategy for elastic joint manipulator: vibration suppression and time response analysis. Macedonia, The Former Yugoslav Republic of.
Rashidifar, Mohammed Amin, and Rashidifar, Ali Amin, E-mail: rashidifar_58@yahoo.com. 2014. "Non-collocated fuzzy logic and input shaping control strategy for elastic joint manipulator: vibration suppression and time response analysis." Macedonia, The Former Yugoslav Republic of.
@misc{etde_22390246,
title = {Non-collocated fuzzy logic and input shaping control strategy for elastic joint manipulator: vibration suppression and time response analysis}
author = {Rashidifar, Mohammed Amin, and Rashidifar, Ali Amin, E-mail: rashidifar_58@yahoo.com}
abstractNote = {Conventional model-based control strategies are very complex and difficult to synthesize due to high complexity of the dynamics of robots manipulator considering joint elasticity. This paper presents investigations into the development of hybrid control schemes for trajectory tracking and vibration control of a flexible joint manipulator. To study the effectiveness of the controllers, initially a collocated proportional-derivative (P D)-type Fuzzy Logic Controller (FLC) is developed for tip angular position control of a flexible joint manipulator. This is then extended to incorporate a non-collocated Fuzzy Logic Controller and input shaping scheme for vibration reduction of the flexible joint system. The positive zero-vibration-derivative-derivative (ZVDD) shaper is designed based on the properties of the 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 hybrid 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. (Author)}
journal = []
issue = {1}
volume = {32}
journal type = {AC}
place = {Macedonia, The Former Yugoslav Republic of}
year = {2014}
month = {Jul}
}