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

Mohd Ashraf Ahmad, Zaharuddin Mohamed, Haszuraidah Ishak, Ahmad Nor Kasruddin Nasir
2008 2008 Second Asia International Conference on Modelling & Simulation (AMS)  
This paper presents the use of angular position control approaches for a flexible robot manipulator with disturbances effect in the dynamic system. Delayed Feedback Signal (DFS) and Proportional-Derivative (PD) controller are the techniques proposed in this investigation to actively control the vibrations of flexible structure. A constrained planar single-link flexible manipulator is considered and the dynamic model of the system is derived using the assume mode method. A complete analysis of
more » ... mulation results for each technique is presented in time domain and frequency domain respectively. Performances of the controller are examined in terms of vibration suppression and disturbances cancellation. Finally, a comparative assessment of the impact of each controller on the system performance is presented and discussed. Second Asia International Conference on Modelling & Simulation 978-0-7695-3136-6/08 $25.00
doi:10.1109/ams.2008.58 dblp:conf/asiams/AhmadMIN08 fatcat:ebzjwh5tpna6fh5xih23gglcbu