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In this paper, a single-link flexible joint robot is designed, fabricated and controlled. Three different fuzzy logic controllers (FLCs) were used to remove link vibrations and to obtain accurate trajectory tracking of link end-point. The input variables of the first and the second FLCs are motor rotation angle error and its derivative, and end-effector deflection error and derivative of deflection...
This paper presents a composite controller for tip position tracking of flexible link manipulators. In this regard, an inner/outer control structure is proposed. Opposed to previous conducted researches in this area, the desired reference trajectory is robustly modified (online) to minimize the tracking error of the tip utilizing the outer controller. The outer trajectory modifier is a μ synthesis...
In this paper, we propose a method for adding new items to an existing knowledge base, considering the information already collected via a human machine interface. The system can be used for acquiring the data, monitoring the fabrication cells and in the knowledge acquisition process. The knowledge base is an essential part, used in the monitoring and control of the robot in the fabrication cell....
This paper presents a trajectory planning method for saving the operating energy of a flexible manipulator in point-to-point (PTP) motion. An artificial neural network (ANN) is employed to generate the desired joint angle, and then, particle swarm optimization (PSO) is used as the learning algorithm. The sum of the motor torques is adopted as the objective function in the PSO algorithm. By operating...
This paper presents investigations into the development of collocated PD control for input tracking and vibration suppression of a flexible joint manipulator. To study the effectiveness of the controllers, a collocated PD controller is developed for tip angular position control of a flexible joint manipulator. This is then extended to incorporate input shaper control schemes for vibration reduction...
This paper presents an adaptive control method for trajectory tracking of a rigid manipulator which holds a flexible payload driven by an unknown force. First, kinematics and dynamics of the payload is derived. After the analysis of the interaction force in the whole system, a model of manipulator is then combined with the payload model, by which the model of the whole system is obtained. The unknown...
This paper presents investigations into the development of input shaping with proportional-derivative (PD)-type fuzzy logic control for trajectory tracking and vibration control of a flexible joint manipulator. To study the effectiveness of the controllers, a PD-type fuzzy logic controller is developed for tip angular position control of a flexible joint manipulator. This is then extended to incorporate...
This paper introduces an approach to a new criterion in gearbox ratio selection for one-link flexible robots. Unlike the rigid arm criterion, the new criterion is related to the tip trajectory, giving a rather "dynamic criterion". Meanwhile, the rigid case can be defined as a "static criterion" due to its independence from the trajectory topology and flexible dynamics. Then, based...
This paper presents a comparative assessment of control schemes for vibration suppression and end-point trajectory tracking of a flexible robot manipulator. A constrained planar single-link flexible robot manipulator is considered and the dynamic model of the system is derived using the assumed mode method. To study the effectiveness of the controllers, initially a collocated PD controller is developed...
Rigid planar space robot is represented as Caplygin system and its base attitude can be stabilized by means of geometric phase. However, in cases when flexible arms are used for control of base attitude, inherent resonance modes are excited and instability is resulted. In this study we propose a stabilized controller is synthesized as adaptive tracking control system convined with sliding mode control...
This paper proposes a fuzzy terminal sliding mode control method for two-link flexible manipulators. Based on the singular perturbation method and two time-scale decomposition, the flexible manipulator system is firstly decomposed into two subsystems by modeling the joint angles and the corrected flexible modes as the slow and fast variables, respectively. A nonsingular terminal sliding mode manifold...
In this paper, active control of space manipulator with flexible-link and flexible-joint was investigated based on the singular perturbation method. Owing to the combined effects of the link and joint flexibilities, the dynamics model of this type of manipulator became more complex and led to a series of unsolved control system. To simplify the design of control system, singular perturbation method...
This paper presents investigations into the development of control schemes for end-point vibration suppression and input tracking of a flexible manipulator. A constrained planar single-link flexible manipulator is considered and the dynamic model of the system is derived using the assumed mode method. To study the effectiveness of the controllers, initially a Linear Quadratic Regulator (LQR) is developed...
This paper presents a trajectory control scheme for single link flexible manipulator. Using Bond Graph modeling technique, Rayleigh's beam model was used to model flexible link. The validity of the proposed control scheme is explained through simulation results.
This paper employs two types of neural networks to control a single-link flexible arm. To train each network, we utilize a gradient-based approach with adaptive learning rate. We first apply the diagonal recurrent neural network (DRNN) to a single-link flexible arm, which is a challenging control problem, in order to investigate the ability of this type of recurrent neural network. We then apply a...
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