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

✍ Scribed by H.W. Park; H.S. Yang; Y.P. Park; S.H. Kim

• Publisher: Elsevier Science
• Year: 1999
• Tongue: English
• Weight: 583 KB
• Volume: 28
• Category: Article
• ISSN: 0921-8890
• DOI: 10.1016/s0921-8890(99)00027-5

✦ Synopsis

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 conlxol scheme of combining fuzzy logic and Hoo controller achieves efficient positioning and vibration suppression performances.