Please use this identifier to cite or link to this item: https://hdl.handle.net/10356/4981
Title: Neural controller for flexible robotic manipulator
Authors: Raveendran, N.
Keywords: DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
Issue Date: 2000
Abstract: A dynamic model of a two-link flexible robot was derived and simulations were carried out to analyze the flexibility of the manipulator. The Langrangian approach and assumed mode shapes are utilized to develop the dynamic model of the two-link flexible robotic manipulator. It was found that the flexibility of the manipulator results in the vibration of links. Conventional controllers such as PD Controller, inverse controller and inverse controller with Direct Strain Feed Back (DSFB) were used to eliminate these vibrations. Simulations were carried out to analyze the control of vibration of both rigid and flexible manipulators. Satisfactory results were obtained for all controllers on rigid manipulator, but on flexible manipulator, only inverse controller with direct strain feedback displayed satisfactory results. An analysis was also carried out to determine the effects of parameter variation on the control of vibrations of the flexible manipulator.
URI: http://hdl.handle.net/10356/4981
Rights: Nanyang Technological University
Fulltext Permission: restricted
Fulltext Availability: With Fulltext
Appears in Collections:EEE Theses

Files in This Item:
File Description SizeFormat 
EEE-THESES_961.pdf
  Restricted Access
12.46 MBAdobe PDFView/Open

Google ScholarTM

Check

Items in DR-NTU are protected by copyright, with all rights reserved, unless otherwise indicated.