Vibration Control of Flexible Manipulator Using Filtered Inverse Controller

DOI

10.2991/caai-17.2017.21How to use a DOI?

Keywords

inverse system; internal dynamics; vibration

Abstract

Our paper presents an inverse system based controller for the precise positioning of the manipulator end-effector. Lately, flexible manipulators are popular owing to their numerous advantages; light weight, low power consumption etc. However, due to their flexible nature, precise positioning of the end effector is still a serious challenge because of the accompanying link vibrations. This limits their applications to those fields where precise positioning or response time is not a factor. Inverse model was developed based on a mathematical model developed, linearized in Maple/Maplesim and exported to MATLAB. Practical experiments were carried out in dSPACE environment. Results show that precise positioning with minimal vibration can be achieved using this technique.

Copyright

© 2017, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Waweru Njeri
AU  - Minoru Sasaki
AU  - Kojiro Matsushita
PY  - 2017/06
DA  - 2017/06
TI  - Vibration Control of Flexible Manipulator Using Filtered Inverse Controller
BT  - Proceedings of the 2017 2nd International Conference on Control, Automation and Artificial Intelligence (CAAI 2017)
PB  - Atlantis Press
SP  - 102
EP  - 108
SN  - 1951-6851
UR  - https://doi.org/10.2991/caai-17.2017.21
DO  - 10.2991/caai-17.2017.21
ID  - Njeri2017/06
ER  -