Abstract
The raised complicatedness of the dynamics of a robot manipulator considering joint elasticity makes conventional model-based control strategies complex and hard to synthesize. This paper presents investigations into the development of hybrid intelligent control schemes for the trajectory tracking and vibration control of a flexible joint manipulator. To study the effectiveness of the controllers, a collocated proportional-derivative (PD)-type Fuzzy Logic Controller (FLC) is first developed for the tip angular position control of a flexible joint manipulator. This is then extended to incorporate a non-collocated Fuzzy Logic Controller, a non-collocated proportional-integral-derivative (PID) and an input-shaping scheme for the vibration reduction of the flexible joint system. The positive zero-vibration-derivative-derivative (ZVDD) shaper is designed based on the properties of the system. The implementation results of the response of the flexible joint manipulator with the controllers are presented in time and frequency domains. The performances of the hybrid control schemes are examined in terms of input tracking capability, level of vibration reduction and time response specifications. Finally, a comparative assessment of the control techniques is presented and discussed.
Highlights
Elastic joint manipulators have received a great deal of attention due to their light weight, high manoeuvrability, flexibility, high power efficiency and large number of applications
The control schemes have been developed based on a PD‐type Fuzzy Logic Controller (FLC) with non‐collocated fuzzy logic control, a PD‐type FLC with non‐collocated proportional‐ integral‐derivative (PID) control and a PD‐type FLC with an input‐shaping scheme
The performances of the control schemes have been evaluated in terms of input tracking capability and vibration suppression for the resonance modes of the manipulator
Summary
Elastic joint manipulators have received a great deal of attention due to their light weight, high manoeuvrability, flexibility, high power efficiency and large number of applications. Lin and Chen [16] propose a combined rigid model‐based the computed torque and fuzzy control of flexible‐joint manipulators As to another aspect, an acceptable system performance with reduced vibration that accounts for system changes can be achieved by developing a hybrid control scheme that caters for the rigid body motion and vibration of the system independently. An acceptable system performance with reduced vibration that accounts for system changes can be achieved by developing a hybrid control scheme that caters for the rigid body motion and vibration of the system independently This can be realized by utilizing control strategies consisting of either non‐collocated with collocated feedback controllers or feed‐forward with feedback controllers. This paper presents an investigation into the development of hybrid intelligent control schemes for the trajectory tracking of the tip angular position and the vibration control of a flexible joint manipulator.
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