Modelling and Intelligent Control of an Elastic Link Robot Manipulator

Loudini, Malik

doi:10.5772/51102

Cited by 11 publications

(10 citation statements)

References 27 publications

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“…[2011] (79) proposed a modified genetic algorithm (MGA) to optimize the feedback gains of a PD controller used for the control of position and vibration of a flexible arm. Loudini [2013] (80) discussed the precise control of the end-point position of a planar single-link flexible manipulator using PD-type Mamdani FLC and GA optimized FLC. He modelled the flexible link using Timoshenko beam theory and considered Kelvin-Voigt damping in the system.…”

Section: Optimization Techniquesmentioning

confidence: 99%

“…Timoshenko beam theory [Naganathan and Soni, 1986] (25) , [Kermani, 2010] (51) , [Loudini, 2013] (80) , [Wang and Gao, 2016] (102) It considers the effect of shear deformation. It is suitable for beams with low aspect ratios.…”

Section: Inertial Frame Of Referencementioning

confidence: 99%

“…7 Fuzzy logic control [Liu et al, 2010] (68) , [Zebin and Alam, 2010] (76) , [Loudini, 2013] (80) , [Zhang et al, 2020] (130) In a fuzzy logic control, the control laws are specified with the help of linguistics. Fuzzy sets are used to establish these laws.…”

Section: Continued On Next Pagementioning

confidence: 99%

“…Lagrangian-Assumed modes method [Oakley and Cannon, 1989] (13) , [Luca and Siciliano, 1991] (14) , [Li and Sankar, 1993] (15) , [Mayo et al, 1995] (111) , [Lu et al, 1996] (59) , [Theodore and Ghosal, 1997] (17) , [Ata et al, 2012] (19) , [Loudini, 2013] (80) , [Chen and Shan, 2020] (113) , [Yang et al, 2017] (113) In this method, Lagrangian dynamics is used to formulate the equations of motion.…”

mentioning

confidence: 99%

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Dynamic modelling and control of flexible link manipulators: methods and scope- Part-1

Mishra¹,

Singh²

2021

IJST

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Objectives: This paper addresses two key issues in the area of flexible robotics. The issues are dynamic modelling and control of flexible link robots. A brief, yet, significant review is provided that addresses these issues. Methods: The various approaches used by researchers for dynamic modelling and control of flexible robots are presented. Besides that, methods used for achieving optimal control are also discussed. Findings: After a review of 153 research papers from the year 1975 to 2021, it has been found that a good dynamic model of flexible manipulator helps in reducing the control and computational efforts. Recent trends in research in the area of flexible manipulators are towards the use of sliding mode control and vision-based control techniques. Novelty: Inclusion of the effect of torsional vibrations besides lateral vibrations on the positional accuracy of flexible manipulators makes the current research work novel.

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Section: Optimization Techniquesmentioning

confidence: 99%

Section: Inertial Frame Of Referencementioning

confidence: 99%

Section: Continued On Next Pagementioning

confidence: 99%

mentioning

confidence: 99%

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Dynamic modelling and control of flexible link manipulators: methods and scope- Part-1

Mishra¹,

Singh²

2021

IJST

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“…An electromechanical actuator at the hub of the system produces rotational motion of the manipulator, and fast motion-induced vibration propagates along the flexible beam to the payload at the end-point of the beam. The control strategy for the flexible manipulator system can be realised through conventional control [48], [49] or intelligent control [50], [51], [52], [53] approaches. Fuzzy logic control (FLC) is one type of intelligent control approaches that increasingly attracts interest of researchers.…”

Section: Referencesmentioning

confidence: 99%

Novel metaheuristic hybrid spiral-dynamic bacteria-chemotaxis algorithms for global optimisation

Nasir

Tokhi

2015

Applied Soft Computing

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This paper presents hybrid spiral-dynamic bacteria-chemotaxis algorithms for global optimisation and their application to control of a flexible manipulator system. Spiral dynamic algorithm (SDA) has faster convergence speed and good exploitation strategy. However, the incorporation of constant radius and angular displacement in its spiral model causes the exploration strategy to be less effective hence resulting in low accurate solution. Bacteria chemotaxis on the other hand, is the most prominent strategy in bacterial foraging algorithm. However, the incorporation of a constant step-size for the bacteria movement affects the algorithm performance. Defining a large step-size results in faster convergence speed but produces low accuracy while defining a small step-size gives high accuracy but produces slower convergence speed. The hybrid algorithms proposed in this paper synergise SDA and bacteria chemotaxis and thus introduce more effective exploration strategy leading to higher accuracy, faster convergence speed and low computation time. The proposed algorithms are tested with several benchmark functions and statistically analysed via nonparametric Friedman and Wilcoxon signed rank tests as well as parametric t-test in comparison to their predecessor algorithms. Moreover, they are used to optimise hybrid Proportional-Derivative-like fuzzy-logic controller for position tracking of a flexible manipulator system. The results show that the proposed algorithms significantly improve both convergence speed as well as fitness accuracy and result in better system response in controlling the flexible manipulator.

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