Position and vibration control of a flexible robot manipulator using hybrid controller

H. W. Park, Hyun Seok Yang, Y. P. Park, S. H. Kim

Research output: Contribution to journalArticle

30 Citations (Scopus)

Abstract

In this work, position and vibration control problem of a flexible robot arm with a voice coil type actuator is investigated. For the vibration suppression, a voice coil type actuator is designed and is implemented using H control scheme, in order to guarantee the controlled system robust against unmodeled higher-order mode vibration of the arm, output sensor noise, etc. A fuzzy logic based controller is used for the position and vibration control of the joint hub. Experimental results confirm that the proposed hybrid control scheme of combining fuzzy logic and H controller achieves efficient positioning and vibration suppression performances.

Original languageEnglish
Pages (from-to)31-41
Number of pages11
JournalRobotics and Autonomous Systems
Volume28
Issue number1
DOIs
Publication statusPublished - 1999 Jul 31

Fingerprint

Flexible Manipulator
Vibration Suppression
Vibration Control
Position Control
Robot Manipulator
Position control
Vibration control
Coil
Fuzzy Logic
Fuzzy logic
Manipulators
Actuator
Actuators
Robots
Controller
Controllers
Hybrid Control
Positioning
Control Problem
Robot

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Mathematics(all)
  • Computer Science Applications

Cite this

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Position and vibration control of a flexible robot manipulator using hybrid controller. / Park, H. W.; Yang, Hyun Seok; Park, Y. P.; Kim, S. H.

In: Robotics and Autonomous Systems, Vol. 28, No. 1, 31.07.1999, p. 31-41.

Research output: Contribution to journalArticle

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