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

H. W. Park, H. S. 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

Bibliographical note

Funding Information:
Seung Ho Kim receivedB .S., M.S. and Ph.D. degrees in Mechanical Engineeringfr om Yonsei University, Korea in 1988.S ince 1980 he has beena lab manageor f the Advanced RoboticsL ab in KoreaA tomicE nergy ResearchIn stitute,t echnicadl evelop- mentt askm anagefro r nuclearro botic systemd evelopmenutn dert he Korea Ministry of Science, and principal investigator/projemcta nagerf or the long term nucleard evelopmenptr o-gram under the Korea Ministry of Science.H is research interestsin cludec ontrolo f flexibles tructuresA, GV, and tele-operatedro botics ystemsr equiredfo r maintenance/inspection tasksu nderh ighr adiatione nvironments.

All Science Journal Classification (ASJC) codes

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

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