Abstract
This paper presents investigations at developing a hybrid iterative learning control scheme with acceleration feedback (PDILCAF) for flexible robot manipulators. An experimental flexible manipulator rig and corresponding simulation environment are used to demonstrate the effectiveness of the proposed control strategy. In this work the dynamic model of the flexible manipulator is derived using the finite element (FE) method. A collocated proportional-derivative (PD) controller utilizing hub-angle and hub-velocity feedback is developed for control of rigid-body motion of the system. This is then extended to incorporate iterative learning control with acceleration feedback and genetic algorithms (GAs) for optimization of the learning parameters for control of vibration (flexible motion) of the system. The system performance with the controllers is presented and analysed in the time and frequency domains. The performance of the hybrid learning control scheme without and with acceleration feedback is assessed in terms of input tracking, level of vibration reduction at resonance modes and robustness with various.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Yurkovich S. Flexibility effects on performance and control. Robot Control 1992; Part 8:321–323.
Arimoto S., Kawamura S., and Miyazaki F. Bettering operation of robots by learning. Journal of Robotic Systems, 1984;1(2):123–140
Panzieri S. and Ulivi G. Disturbance rejection of iterative learning control applied to trajectory tracking for a flexible manipulator. In Proceedings of 3 rd European Control Conference, ECC, September 1995, pages 2374–2379.
Amann N., Owens D. H., and Rogers E. Iterative learning control for discrete time systems with exponential rate of convergence. Technical Report 95/14, Centre for Systems and Control Engineering, University of Exeter, 1995.
Tokhi M. O., Mohamed Z. and Shaheed M. H. Dynamic characterisation of a flexible manipulator system. Robotica, 2001; 19(5): 571–580.
Azad K. M. Analysis and design of control mechanisms for flexible manipulator systems. PhD thesis, Department of Automatic Control and Systems Engineering, The University of Sheffield, 1994.
Chipperfield, A.J., Flemming P.J., & Fonscea, C.M. ‘Genetic algorithms for control system engineering’, Proceeding Adaptive Computer in Engineering Design and Control, September 1994: pp.128–133.
Linkens, D.A., & Nyongesa, H.O., ‘Genetic algorithms for fuzzy control’, IEE Proceeding Control Theory Application, Vol. 142(3): pp. 161–185.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2006 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Zain, M.Z.M., Alam, M.S., Tokhi, M.O., Mohamed, Z. (2006). Simulation and Experimental Studies of Hybrid Learning Control with Acceleration Feedback for Flexible Manipulators. In: Tokhi, M.O., Virk, G.S., Hossain, M.A. (eds) Climbing and Walking Robots. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-26415-9_68
Download citation
DOI: https://doi.org/10.1007/3-540-26415-9_68
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-26413-2
Online ISBN: 978-3-540-26415-6
eBook Packages: EngineeringEngineering (R0)