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.
Bibliographical noteFunding 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
- Computer Science Applications