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Open-loop control of flexible manipulator systems using filtered inputs

Open-loop control of flexible manipulator systems using filtered inputs

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Published by University of Sheffield, Dept. of Automatic Control and Systems Engineering in Sheffield .
Written in English


Edition Notes

Statementby M.O.Tokhi ... [et al.].
SeriesResearch report / University of Sheffield. Department of Automatic Control and Systems Engineering -- no.598, Research report (University of Sheffield. Department of Automatic Control and Systems Engineering) -- no.598.
ContributionsTokhi, M. O. .
ID Numbers
Open LibraryOL21203488M

  The case study of a single-link flexible manipulator is considered, where the manipulator is controlled under open-loop as well as closed-loop control scheme. In the open-loop control scheme, the aim is to test the effectiveness of the command shaper in reducing the vibration by: 1. One limitation of the adaptive filter model of cerebellum is that it has, to date, only been applied in the dynamic control context to problems where mass or inertia are negligible, such as velocity control in eye movements, i.e., the vestibulo ocular reflex (VOR) (Dean et al., ; Lenz et al., ). In linear systems theory, this type of Cited by: 6.

With CAXA software I designed the structure of the handling manipulator in the FMS. And focus for the design of the structure, introduced the hardware implementation of robot manipulator with the same characteristics of stepping away from its open-loop position control. The manipulator is mainly used for flexible manufacturing systems in material handling, flexible movement, safe, reliable Author: Xun Mei Han. Firstly, a procedure for the generation of dynamic equations for a 3-PRR parallel manipulator with three flexible intermediate links is presented based on the assumed mode method. The dynamic equations of the parallel manipulator with three flexible intermediate links are developed using pinned-pinned boundary conditions. ExperimentalCited by: 5.

into open loop and closed loop. Although the mathematical theory of open loop control is well established, only a limited number of successful applications in the control of distributed parameter flexible manipulator systems have been reported. A further research dimension, with this class of control structures, is online adaptation. The focus of this paper is on tracking control of LTI SISO discrete-time systems, representing open-loop or feedback-controlled plants. Perfect tracking control (PTC) can be achieved, in theory, by model inversion (i.e., pole-zero cancellation) [ 1 ].Cited by: 7.


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Open-loop control of flexible manipulator systems using filtered inputs Download PDF EPUB FB2

OPEN-LOOP CONTROL OF FLEXIBLE MANIPULATOR SYSTEMS USING FILTERED INPUTS M O Tokhi, S Kourtis, H Poerwanto, and A K M Azad Department of Automatic Control and Systems Engineering, The University of Sheffield, Mappin Street, Sheffield, Sl 3JD, UK.

Tel: + 44 (0) Fax: +44 E-mail: @ Shaheed and Tokhi () combined an adaptive closed-loop position control with a filtered input pre-shaper for a single-link flexible manipulator.

In addition, the control algorithm did not. An open-loop control strategy for vibration suppression of a flexible manipulator system using genetic algorithms is presented in this paper. This consists of developing suitable forcing functions. This chapter presents the development of open-loop command-generation techniques for control of flexible manipulators based on filtered input, Gaussian shaped input and input shaping and provides a comparative assessment of the performance of these techniques.

It is assumed that the motion itself is the main source of system vibration. Thus, input torque profiles that do not contain energy at Cited by: 3. This paper presents an investigation into the development of open-loop and closed-loop control strategies for flexible manipulator systems.

Shaped torque inputs, including Gaussian-shaped and low-pass (Butter-worth and elliptic) filtered input torque functions, are developed and used in an open-loop configuration and their performance studied in comparison to a bang-bang input torque through Cited by: The control strategies for flexible robot manipulator systems can be classified as feed-forward (open-loop) and feedback (closed-loop) control schemes.

Feed-forward techniques for vibration suppression involve developing the control input through consideration of the physical and vibrational properties of the system, so that system vibrations Cited by: 1 Flexible manipulators - an overview + Show details-Hide details p.

1 –22 (22) This chapter presents a general overview of modelling, simulation and control approaches of flexible manipulators. Sample selection flexible manipulator experimental systems are introduced and their features and design merits are Cited by: The ever increasing utilisation of robotic manipulators for various applications in recent years has been motivated by the requirements and demands of industrial automation.

Among these, attention is focused more towards flexible manipulators, due to various advantages they offer compared to their rigid counterparts. Flexural dynamics have constituted the main research challenge in modelling Reviews: 1. The control strategies for flexible manipulator systems can be classified as feedforward (open-loop) and feedback (closed-loop) control.

Feedforward control techniques are mainly developed for vibration suppression and involve developing the control input through consideration of the physical and.

Shawky, A. Ordys, M.J. Grimble, End-point control of a flexible link manipulator using H ∞ nonlinear control via a state-dependent Riccati equation, in: CCA/CACSD International IEEE Control Systems Society Conference on Control Applications, September 18–20, Cited by: The control strategies for flexible manipulator systems can be classified as feedforward (open-loop) and feedback (closed-loop) control.

In particular, the feedforward control techniques were mainly developed for vibration suppression which involved developing the control input through the.

This book reports recent and new developments in modeling, simulation and control of flexible robot manipulators. The material is presented in four distinct components: a range of modeling approaches including classical techniques based on the Lagrange equation formulation, parametric approaches based on linear input/output models using system identification techniques and neuro-modeling.

Control of vibration inflexible robot manipulators is considered in this chapter. A constrained planar single-link flexible manipulator is considered. Open-loop control strategies based on filtered and Gaussian-shaped command inputs and closed-loop control techniques based on partitioning of the.

The vibration control for flexible manipulator systems can be classified as feedforward and feedback control schemes [2]. The fundamental problem filtered torque inputs were then applied to the system in an open-loop configuration to reduce the vibrations of the manipulator.

This book reports recent advances and new developments in the analysis and control of these robot manipulators. Abstract: Industrial automation is driving the development of robot manipulators in various applications, with much of the research effort focussed on flexible manipulators and their advantages compared to their rigid counterparts.

adaptive inverse and neuro-inverse active control [4] and many others. An open-loop control strategy was presented for vibration suppression of a flexible manipulator system where low-pass and band-stop filters were designed on the basis of the identified vibration modes [5].

Romano and co-workers designed a command shaper for a manipulator. The best control strategy for controlling the tip position of flexible single link robotic manipulator is obtained by implementation of LQR controller. Finally, it is concluded from our study that LQR control method is the best method among PID and State feedback controller to control the.

AN ITERATIVE LEARNING CONTROL APPROACH FOR VIBRATION SUPPRESSION OF FLEXIBLE MANIPULATOR SYSTEMS M. Tokhi1, M.

Md Zain1, M. Alam1 and Z. Mohamed2 1Depart ment of Au t oa ic Contr l and Systems Engineering, The University of Sheffield, UK. 2Faculty of Electrical Eng ineering, Universiti Teknolog Malaysia, by: 4.

But for the flexible manipulator i have no idea about how the control system works. Since the controller must regulate the motor speed and direction of rotation to somehow reduce the tip vibration. Single Link Flexible Manipulator Controller. Vibration suppression to input track a flexible manipulator a Elemental kinetic energy: The elemental kinetic energy i.e.

Tj, for the j-th element is given as Tj = 1 2 l 0 ρ ∂r ∂t T ∂r ∂t dxj. (1) For convenience, r can be written, in terms of r1 w.r.t.

O1X1Y1 frame, as r = T1 0r1, (2) where r1 = (j −1)l +xj yj, (3) T1 0 = cos(θ) −sin(θ) sin (θ)cos (4) The displacement. The first studies in the field of fuzzy systems and control have been making a big progress motivated by the practical success achieved in industrial process control applications.

Fuzzy systems can be used either as open-loop controllers or as closed-loop controllers, as shown in Figure 3. When used as a closed-loop controller, the fuzzy system Cited by: include open and close loop control techniques.

In open loop control, vibration control of single link flexible manipulator using command shaping method was presented in [9], it is a feedforward control for eliminating residual vibration.

Various input shaping filters were also designed. These techniques areFile Size: KB.Abstract. A trajectory planning method based on the dynamic model of robot manipulators is presented.

First the problem of the optimal trajectography is discussed by considering several sub-problems related to the structural and modelling singularities, obstacle avoidance and technological by: 1.