Title: Active vibration suppression techniques of a very flexible robot manipulator

Authors: Mohd Ashraf Ahmad

Addresses: Faculty of Electrical and Electronics Engineering, Universiti Malaysia Pahang, Lebuhraya Tun Razak, 26300 Kuantan, Pahang, Malaysia

Abstract: 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 and Proportional-Derivative (PD)-type fuzzy logic controller are the techniques used in this investigation to actively control the vibrations of flexible structure. A complete analysis of simulation results for each technique is presented in time domain and frequency domain respectively. Performances of both controllers are examined in terms of vibration suppression, disturbances cancellation, time response specifications and input energy. Finally, a comparative assessment of the impact of each controller on the system performance is discussed.

Keywords: flexible manipulators; flexible robots; vibration control; DFS; delayed feedback signal; PD-type fuzzy logic controller; active vibration suppression; fuzzy control; angular position control; robot control.

DOI: 10.1504/IJMMS.2009.026048

International Journal of Mechatronics and Manufacturing Systems, 2009 Vol.2 No.3, pp.311 - 330

Published online: 26 May 2009 *

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