qft control of a two-link rigid-flexible manipulator

QFT Control of a Two-Link Rigid-Flexible Manipulator

This paper evaluates a new and simple controller design method based on QFT (quantitative feedback theory) for a two-link manipulator whose first link is rigid and the second is flexible. A piezoelectric patch is attached to the surface of the flexible link for vibration suppression of it. This system is modeled as a nonlinear multi-input multi-output (MIMO) control systems whose inputs are two...

Planning and Control of Two-Link Rigid Flexible Manipulators in Dynamic Object Manipulation Missions

This research focuses on proposing an optimal trajectory planning and control method of two link rigid-flexible manipulators (TLRFM) for Dynamic Object Manipulation (DOM) missions. For the first time, achievement of DOM task using a rotating one flexible link robot was taken into account in [20]. The authors do not aim to contribute on either trajectory tracking or vibration control of the End-...

Rbfnn Control of a Two-link Flexible Manipulator Incorporating Payload

This paper presents the dynamic modeling and control of a two-link flexible robot manipulator. A dynamic model of the system is developed using a combined Euler-Lagrange and assumed mode methods. The most problems of a two-link flexible manipulator are vibration of flexible link and unpredictable payload additional. Previous researchers have discussed control methods for this system; few presen...

Modelling and control of a two-link flexible robot manipulator

Over the last years, flexible structured manipulators have increased in popularity in aeronautical research because of their advantages compared to conventional rigid structures. Unfortunately, the flexibility of the structure has one big disadvantage; it causes undesired motions of the spacecraft. The flexibility of the structure generates structural vibrations that strongly interferes with ri...

Model Predictive Control of a Two - Link Flexible Manipulator

Bacterial Foraging Optimized Hybrid Fuzzy Precompensated PD Control of Two Link Rigid-Flexible Manipulator

Light-weight flexible arms will most likely constitute the next generation robots due to their large payload carrying capacities at high speeds and less power demand. Control problem of robots with flexible members is more complex compared to rigid robots due to vibrations during the motion. This paper presents the social foraging behavior of Escherichia coli bacteria to optimize hybrid Fuzzy P...