Flexible manipulator modelling and vibration control using end-point residual velocity feedback

This project presents the modeling and simulation of a two-link flexible manipulator and the control of a single-link manipulator taking into consideration the effects of payload variation on the rate of change of the residual motion of the tip. The characteristic behavior of the dynamic model was i...

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Main Author:	Odemadighi, Miwori
Format:	Thesis
Language:	English
Published:	2013
Subjects:	TJ Mechanical engineering and machinery
Online Access:	http://eprints.utm.my/id/eprint/78262/1/MiworiOdemadighiMFKM20131.pdf
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id	my-utm-ep.78262
record_format	uketd_dc
spelling	my-utm-ep.782622018-08-03T08:46:47Z Flexible manipulator modelling and vibration control using end-point residual velocity feedback 2013-06 Odemadighi, Miwori TJ Mechanical engineering and machinery This project presents the modeling and simulation of a two-link flexible manipulator and the control of a single-link manipulator taking into consideration the effects of payload variation on the rate of change of the residual motion of the tip. The characteristic behavior of the dynamic model was investigated in terms of transient response using MATLAB and SIMULINK. The results show that the response of system contains highly undesirable vibrations. In order to reduce this vibration, an Optimized Modified parallel PD controller was proposed using the rate of change as the feedback signal, which is better than acceleration feedback. The Optimized Modified PD involved the use of graphical based Direct search (pattern Search) method to optimized the controllers parameters. It was found out that as the payload increases, the vibration gain also increases, however trajectory tracking met the design specification and vibration was greatly reduced using this algorithm.In comparison to the pure parallel PD, the PPD has a better response time,but was unable to reduce vibration, which makes the OMPD controller better. 2013-06 Thesis http://eprints.utm.my/id/eprint/78262/ http://eprints.utm.my/id/eprint/78262/1/MiworiOdemadighiMFKM20131.pdf application/pdf en public http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:79368 masters Universiti Teknologi Malaysia, Faculty of Mechanical Engineering Faculty of Built Environment
institution	Universiti Teknologi Malaysia
collection	UTM Institutional Repository
language	English
topic	TJ Mechanical engineering and machinery
spellingShingle	TJ Mechanical engineering and machinery Odemadighi, Miwori Flexible manipulator modelling and vibration control using end-point residual velocity feedback
description	This project presents the modeling and simulation of a two-link flexible manipulator and the control of a single-link manipulator taking into consideration the effects of payload variation on the rate of change of the residual motion of the tip. The characteristic behavior of the dynamic model was investigated in terms of transient response using MATLAB and SIMULINK. The results show that the response of system contains highly undesirable vibrations. In order to reduce this vibration, an Optimized Modified parallel PD controller was proposed using the rate of change as the feedback signal, which is better than acceleration feedback. The Optimized Modified PD involved the use of graphical based Direct search (pattern Search) method to optimized the controllers parameters. It was found out that as the payload increases, the vibration gain also increases, however trajectory tracking met the design specification and vibration was greatly reduced using this algorithm.In comparison to the pure parallel PD, the PPD has a better response time,but was unable to reduce vibration, which makes the OMPD controller better.
format	Thesis
qualification_level	Master's degree
author	Odemadighi, Miwori
author_facet	Odemadighi, Miwori
author_sort	Odemadighi, Miwori
title	Flexible manipulator modelling and vibration control using end-point residual velocity feedback
title_short	Flexible manipulator modelling and vibration control using end-point residual velocity feedback
title_full	Flexible manipulator modelling and vibration control using end-point residual velocity feedback
title_fullStr	Flexible manipulator modelling and vibration control using end-point residual velocity feedback
title_full_unstemmed	Flexible manipulator modelling and vibration control using end-point residual velocity feedback
title_sort	flexible manipulator modelling and vibration control using end-point residual velocity feedback
granting_institution	Universiti Teknologi Malaysia, Faculty of Mechanical Engineering
granting_department	Faculty of Built Environment
publishDate	2013
url	http://eprints.utm.my/id/eprint/78262/1/MiworiOdemadighiMFKM20131.pdf
_version_	1747817946769522688

Flexible manipulator modelling and vibration control using end-point residual velocity feedback

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