Trajectory Tracking Controller for flexible robot arm

Marwan A. Ali, Firas Basim Ismail, Khairul Salleh Mohamed Sahari, K. Weria, Y. Moslem, Rahmat Izaizi, Mali Abdollahian

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

The most important benefits of flexible link manipulator include high payload-To-Arm weight ratio. The reduction of weight leads to increase of the link elasticity that significantly complicates the control of the manipulator. The difficulty in control is caused by the fact that the link model is a distributed parameter plant. In this case, several elastic modes are required to achieve sufficiently high accuracy. Plus, the plant has several uncertain parameters (payload mass, hub and structural damping factors, etc.) that influence the systems performance. In this paper, Trajectory Tracking Controller is suggested by utilizing the hybrid controller approach to overcome the problem of vibration of tip position through motion which is a characteristic of the flexible link system. A modified version of the proportional-derivative rigid controller to track the hub position while sliding mode control was used for vibration damping. Also, a second controller (a fuzzy logic based proportional integral plus derivative control scheme was developed for both vibration damping and trajectory tracking. Results are illustrated in the robust performance of the proposed tip position tracking controllers over the payload variation. A good performance is obtained for the trajectory tracking. The stability of these controllers is also proved.

Original languageEnglish
Title of host publication2014 IEEE International Symposium on Robotics and Manufacturing Automation, IEEE-ROMA2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages39-45
Number of pages7
ISBN (Electronic)9781479957651
DOIs
Publication statusPublished - 09 Oct 2015
EventIEEE International Symposium on Robotics and Manufacturing Automation, IEEE-ROMA2014 - Kuala Lumpur, Malaysia
Duration: 15 Dec 201416 Dec 2014

Other

OtherIEEE International Symposium on Robotics and Manufacturing Automation, IEEE-ROMA2014
CountryMalaysia
CityKuala Lumpur
Period15/12/1416/12/14

Fingerprint

Trajectories
Robots
Controllers
Damping
Vibrations (mechanical)
Manipulators
Derivatives
Position control
Sliding mode control
Fuzzy logic
Elasticity

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Industrial and Manufacturing Engineering
  • Mechanical Engineering

Cite this

Ali, M. A., Ismail, F. B., Mohamed Sahari, K. S., Weria, K., Moslem, Y., Izaizi, R., & Abdollahian, M. (2015). Trajectory Tracking Controller for flexible robot arm. In 2014 IEEE International Symposium on Robotics and Manufacturing Automation, IEEE-ROMA2014 (pp. 39-45). [7295859] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROMA.2014.7295859
Ali, Marwan A. ; Ismail, Firas Basim ; Mohamed Sahari, Khairul Salleh ; Weria, K. ; Moslem, Y. ; Izaizi, Rahmat ; Abdollahian, Mali. / Trajectory Tracking Controller for flexible robot arm. 2014 IEEE International Symposium on Robotics and Manufacturing Automation, IEEE-ROMA2014. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 39-45
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Ali, MA, Ismail, FB, Mohamed Sahari, KS, Weria, K, Moslem, Y, Izaizi, R & Abdollahian, M 2015, Trajectory Tracking Controller for flexible robot arm. in 2014 IEEE International Symposium on Robotics and Manufacturing Automation, IEEE-ROMA2014., 7295859, Institute of Electrical and Electronics Engineers Inc., pp. 39-45, IEEE International Symposium on Robotics and Manufacturing Automation, IEEE-ROMA2014, Kuala Lumpur, Malaysia, 15/12/14. https://doi.org/10.1109/ROMA.2014.7295859

Trajectory Tracking Controller for flexible robot arm. / Ali, Marwan A.; Ismail, Firas Basim; Mohamed Sahari, Khairul Salleh; Weria, K.; Moslem, Y.; Izaizi, Rahmat; Abdollahian, Mali.

2014 IEEE International Symposium on Robotics and Manufacturing Automation, IEEE-ROMA2014. Institute of Electrical and Electronics Engineers Inc., 2015. p. 39-45 7295859.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Ali MA, Ismail FB, Mohamed Sahari KS, Weria K, Moslem Y, Izaizi R et al. Trajectory Tracking Controller for flexible robot arm. In 2014 IEEE International Symposium on Robotics and Manufacturing Automation, IEEE-ROMA2014. Institute of Electrical and Electronics Engineers Inc. 2015. p. 39-45. 7295859 https://doi.org/10.1109/ROMA.2014.7295859