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

Ahmad, Mohd Ashraf; Mohamed, Zainai

doi:10.5539/mas.v2n2p59

Cited by 2 publications

(2 citation statements)

References 16 publications

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“…However, feedforward control methods limits the parametric changes and disturbances (Phan et al 2009). With regard to feedback control, a number of different control strategies were introduced to overcome this drawback (Rovner and Franklin, 1988;Ryu et al 2000;Ho and Tu, 2006;Ahmad and Mohamed, 2008;Maouche and Attari, 2008). In addition to measuring joint positioning and vibration suppression, it is desirable to employ the smart material in line with sensing and control that are done locally by smart materials for different physical properties.…”

Section: Introductionmentioning

confidence: 99%

Development of an experimental single-link flexible manipulator system

Yatim¹,

Darus²

2018

IJET

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Demand for the applications of flexible manipulator due to their benefits has received attention from the industries. However, the flexibility of flexible manipulator has resulted in structural vibration and needs to be studied accordingly. This paper presents the development of a laboratory facility constituting of single-link flexible manipulator system. A new experimental rig flexible manipulator system constrained to move horizontally was designed, developed and fabricated. The experimental equipment setup and method of capturing data are presented. Experimental works have been done to highlight the effect of forces on hub-angle and end-point vibration of the flexible manipulator. Impact test was carried out to identify the dominant mode of vibration of the flexible manipulator. Result from the impact test was compared with the experimental data recorded for model validation and verification. The experimental result demonstrated that the reasonable accuracy with only 1.31% of error was obtained for the dominant mode of vibration. The experimental rig developed incorporating the sensors and actuators deployed may direct future researchers towards significant applications of flexible manipulator in the industrial sector and to promote better productivity.

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Section: Introductionmentioning

confidence: 99%

Development of an experimental single-link flexible manipulator system

Yatim¹,

Darus²

2018

IJET

View full text Add to dashboard Cite

show abstract

“…proposed in literature (see, for example, the simulation studies from [1][2][3][4][5][6], or the experimental ones in [7,8]). Linearized models have been also effectively employed in the synthesis of state observers (e.g.…”

Section: Introductionmentioning

confidence: 99%