PID and state feedback control of a single-link flexible joint robot manipulator

Akyuz, Ismail H.; Yolaçan, Ersin; Ertunç, H. Metin; Bingül, Zafer

doi:10.1109/icmech.2011.5971320

Cited by 36 publications

(25 citation statements)

References 3 publications

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“…Salah satu metode sistem pegendali yang dapat menghasilkan keluaran yang baik adalah sistem kendali PID. PID adalah sebuah mekanisme kontrol umpan balik yang membutuhkan kendali yang bekerja secara kontinyu [1]. Sistem kendali PID merupakan tool standar yang digunakan pada otomasi industri.…”

Section: A Latar Belakangunclassified

Straight-Move Robot Control System with LabView-Based Proportional Integral Derivative (PID) Control

W¹

2019

Jurnal Ilmiah Telekomunikasi, Kendali dan Elektronika Terapan

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Abstrak -Pengendalian dan monitoring kecepatan putar suatu roda (motor DC) dalam sebuah sistem proses sangat penting perannya dalam implementasi industri. Pengendalian dan monitoring PWM untuk kecepatan putar roda pada sepasang motor DC ini menggunakan perangkat antarmuka komputer dimana dalam industri hal ini diperlukan untuk memudahkan operator dalam mengendalikan dan memonitor kecepatan motor. Agar diperoleh pengontrol yang terbaik, maka dilakukan tuning parameter pengontrol Proporsional Integral Derifatif (PID). Dalam tuning ini kita dapat mengetahui nilai dari proporsional gain (Kp), waktu integral (Ti) dan waktu derivatif (Td). Pengontrol PID akan memberikan aksi kepada kontrol motor DC berdasarkan error yang diperoleh, nilai putaran motor DC yang diinginkan disebut dengan set point. Software LabVIEW digunakan sebagai pemonitor, kendali kecepatan motor. Kata kunci : LabView, Motor DC, Arduino, LabView, PIDAbstract -Control and monitoring of the rotational speed of a wheel (DC motor) in a process system is very important role in the implementation of the industry. PWM control and monitoring for wheel rotational speed on a pair of DC motors uses computer interface devices where in the industry this is needed to facilitate operators in controlling and monitoring motor speed. In order to obtain the best controller, tuning the Integral Derifative (PID) controller parameter is done. In this tuning we can know the value of proportional gain (Kp), integral time (Ti) and derivative time (Td). The PID controller will give action to the DC motor control based on the error obtained, the desired DC motor rotation value is called the set point. LabVIEW software is used as a PE monitor, motor speed control.

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Section: A Latar Belakangunclassified

Straight-Move Robot Control System with LabView-Based Proportional Integral Derivative (PID) Control

W¹

2019

Jurnal Ilmiah Telekomunikasi, Kendali dan Elektronika Terapan

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“…In modern robotic systems, flexibility is playing a very crucial role as it full-filling the need of automation industries [10]. Flexible mechanism and flexible joint manipulators are being used in various applications.…”

Section: Dynamic Modeling Of Flexible Joint Manipulatormentioning

confidence: 99%

“…External effects, the non-linear dynamic behaviour of flexible manipulators are the various causes of different control issues [12]. Because of such issues like nonlinear vibrations reduces the end point accuracy, affects the settling time and make the controller design scheme so much convoluted [10]. Flexible joint based robotic manipulators provides many advantages likewise; less energy demand and consumption, decreased the capacity of payload, inexpensive construction, faster movements, longer reach and safer operation [11].…”

Section: Dynamic Modeling Of Flexible Joint Manipulatormentioning

confidence: 99%

“…PID controllers calculate the gap between measured output and reference setting and further try to minimize the gap or error. PID controllers enhance the transient behavior of the system by minimizing the peak overshoot and settling time that have the proficiency to remove the steady-state error with the help of integral action [10].The output of the controller adjusted by the proportional action as per the error size and further steady state offset can be removed by integral action mode. Here Derivative action (mode) plays a significant role [16].…”

Section: Pid Controlmentioning

confidence: 99%

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Investigation of feasible controller for position control of flexible joint manipulator using multiple control techniques

2019

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With the advancement in technology, industries are moving from automation to robotics in the era of robotization. Different control techniques are being used in a different sector of production to control the whole machinery with special attention towards control the position and vibrations. In this research article, the feasible controller has been investigated for position control of flexible joint manipulator. For this, an effective version of a single linked flexible joint robotic manipulator has been used as a platform to control the position of manipulator using different control approaches. Euler's-Lagrange equations have been used to obtain the effective version of the system and the position control has been performed by proportional-integral-derivative (PID) controller, pole -placement and linear quadratic regulator (LQR) methods. The main target of this research work is to maintain the rotational angle of the joint at an appropriate position and to remove the fluctuations at a specific robotic tool which is known as end effectors. The gains of PID controller have been delineated with the help of genetic algorithm and tuned for obtaining the most suitable gains to control the position of flexible joint manipulator and vibrations. As the settling time of the system was high so genetic algorithm has been used to optimize it. The Matlab ® /simulation results depict that genetic algorithm tuned PID controller performed better correlated to both pole placement and LQR method of control.

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“…A new method was introduced in [4] to obtain a closed-form finite dimensional dynamic model for planar Flexible-link Flexiblejoint Manipulators. PID control of flexible joint robot manipulators was used in [5,6]. Simultaneous adaptive positioning and vibration control of a flexible active composite manipulator were investigated in [7].…”

Section: Introductionmentioning

confidence: 99%

Observer design for a flexible-link manipulator with PDE model

Yang

Liu

2015

Journal of Sound and Vibration

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PID and state feedback control of a single-link flexible joint robot manipulator

Cited by 36 publications

References 3 publications

Straight-Move Robot Control System with LabView-Based Proportional Integral Derivative (PID) Control

Straight-Move Robot Control System with LabView-Based Proportional Integral Derivative (PID) Control

Investigation of feasible controller for position control of flexible joint manipulator using multiple control techniques

Observer design for a flexible-link manipulator with PDE model

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