Development of a two-link flexible manipulator

Flexible manipulator systems exhibit many advantages than the rigid robot systems. Flexible manipulator systems offered less overall costs, less material, small actuators, light in weight and consume less power than the traditional robot (rigidarm). With the Two-Link Flexible Manipulator (TLFM) syst...

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Main Author:	Mohd. Tumari, Mohd. Zaidi
Format:	Thesis
Language:	English
Published:	2009
Subjects:	TK Electrical engineering Electronics Nuclear engineering
Online Access:	http://eprints.utm.my/id/eprint/12207/6/MohdZaidiTumariMFKE2009.pdf
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id	my-utm-ep.12207
record_format	uketd_dc
institution	Universiti Teknologi Malaysia
collection	UTM Institutional Repository
language	English
topic	TK Electrical engineering Electronics Nuclear engineering
spellingShingle	TK Electrical engineering Electronics Nuclear engineering Mohd. Tumari, Mohd. Zaidi Development of a two-link flexible manipulator
description	Flexible manipulator systems exhibit many advantages than the rigid robot systems. Flexible manipulator systems offered less overall costs, less material, small actuators, light in weight and consume less power than the traditional robot (rigidarm). With the Two-Link Flexible Manipulator (TLFM) systems, various tasks can be done compare to one-link systems. However, this TLFM is rarely used in industry because of the difficulty in controlling the systems. Therefore, this thesis is to develop the mechanical structures of the TLFM and to design the real-time controller for this system so that it can operate smoothly and accurate. The mechanical structures of this two-link flexible manipulator consist of two DC motors, two flexible links, base and couplings. The hardware is interfaced with the computer through the data acquisition card and several analog to digital converter (ADC) and digital to analog converter (DAC). The Real-Time Window Target (RTWT) Toolbox in MATLAB/SIMULINK software is used for controlling the system. The feedback signal from encoder is used for real-time controller development. This flexible manipulator only considered in horizontal plane only.
format	Thesis
qualification_level	Master's degree
author	Mohd. Tumari, Mohd. Zaidi
author_facet	Mohd. Tumari, Mohd. Zaidi
author_sort	Mohd. Tumari, Mohd. Zaidi
title	Development of a two-link flexible manipulator
title_short	Development of a two-link flexible manipulator
title_full	Development of a two-link flexible manipulator
title_fullStr	Development of a two-link flexible manipulator
title_full_unstemmed	Development of a two-link flexible manipulator
title_sort	development of a two-link flexible manipulator
granting_institution	Universiti Teknologi Malaysia, Faculty of Electrical Engineering
granting_department	Faculty of Electrical Engineering
publishDate	2009
url	http://eprints.utm.my/id/eprint/12207/6/MohdZaidiTumariMFKE2009.pdf
_version_	1747814907890368512
spelling	my-utm-ep.122072017-09-17T07:53:07Z Development of a two-link flexible manipulator 2009-11 Mohd. Tumari, Mohd. Zaidi TK Electrical engineering. Electronics Nuclear engineering Flexible manipulator systems exhibit many advantages than the rigid robot systems. Flexible manipulator systems offered less overall costs, less material, small actuators, light in weight and consume less power than the traditional robot (rigidarm). With the Two-Link Flexible Manipulator (TLFM) systems, various tasks can be done compare to one-link systems. However, this TLFM is rarely used in industry because of the difficulty in controlling the systems. Therefore, this thesis is to develop the mechanical structures of the TLFM and to design the real-time controller for this system so that it can operate smoothly and accurate. The mechanical structures of this two-link flexible manipulator consist of two DC motors, two flexible links, base and couplings. The hardware is interfaced with the computer through the data acquisition card and several analog to digital converter (ADC) and digital to analog converter (DAC). The Real-Time Window Target (RTWT) Toolbox in MATLAB/SIMULINK software is used for controlling the system. The feedback signal from encoder is used for real-time controller development. This flexible manipulator only considered in horizontal plane only. 2009-11 Thesis http://eprints.utm.my/id/eprint/12207/ http://eprints.utm.my/id/eprint/12207/6/MohdZaidiTumariMFKE2009.pdf application/pdf en public masters Universiti Teknologi Malaysia, Faculty of Electrical Engineering Faculty of Electrical Engineering A. Mahmood, B. Bhikkaji and S. O. R. Moheimani (2007). Vibration and Position Control of a Flexible Manipulator. School of Electrical Engineering and Computer Science, the University of Newcastle Callaghan, NSW, Australia. Ahmad Suryo Arifin, Edi Leksono, Hilwadi Hindersah, Wahyudi Martono and Riza Muhida (2007). Two degree of freedom flexible link control using Fuzzy tuned PID controller. Engineering Physics Study Program, Institut teknologi Bandung, June 2007. Dwivedy, S. and Eberhard, P (2006). Dynamic analysis of flexible manipulators, a literature review. Mechanism and Machine Theory, Vol. 41, 2006, pp. 749–777. Gulay Oke and Yorgo Istefarwpulos (2001). Gradient-Descent Based Trajectory Planning for Regulation of a Two-Link Flexible Robotic Arm. IEEHASME International Conference on Advanced Intelligent Mechatronics Proceedings. 8-12 July 2001. Como, Italy. Jan-Peter Houschild (2003). Control of a Flexible Link Robotic Manipulator in Zero Gravity condition. University of Waterloo: A report in fulfilment of the requirement of GENE 503, August 2003. Jinjun Shan, Hong-Tao Liu, Dong Sun (2004). Modified input shaping for a rotating single link flexible manipulator. Journal of Sound and Vibration. 2004. Vol. 285: 187-207. Ke-Ping Liu (2007). Experiment Evaluation of Preshaped Input to Reduce Vibration for Flexible Manipulator. Proceedings of the Sixth International Conference on Machine Learning and Cybernetics. 19-22 August 2007. Hong Kong: 2411-2415. M.A Ahmad (2006). Control of Flexible Manipulator. Bachelor Degree. Faculty of Electrical Engineering, Universiti Teknologi Malaysia. M. Benosman, G.L. Vey (2004). Control of flexible manipulators: A survey, Robotica 22 (2004): 533–545. Mazlan Muhammad (2009). Real-Time Control of a Single Link Flexible Manipulator. Bachelor Degree, Faculty of Electrical Engineering, Universiti Teknologi Malaysia. Mohamed,Z and Tokhi, M.O (2002). Vibration control of a single link flexible manipulator using command shaping techniques. Proceeding of IMechE-I: Journal of System and Control Engineering. 2002. Vol. 216(2): 191-210. Mohd Asyraf Ahmad, Zaharuddin Mohamed (2007). Hybrid Control Schemes of a flexible robot manipulator. The 2nd National Intelligent Systems And Information Technology Symposium (ISITS’07). Oct 30-31, 2007. ITMA -UPM, Malaysia. Noraide Md Yusop (2009). Control of Flexible Manipulator using Strain Feedback. Bachelor Degree, Faculty of Electrical Engineering, Universiti Teknologi Malaysia. Ram Somaraju (2003). Modelling and Control of a single Flexible Beam. The University of Auckland, Department of Electrical and Electronic Engineering, Auckland: Technical report. Sungsoo Rhim and Ai-Ping Hu (2003). Control of a Flexible Manipulator Tip Using a Multirate Repetitive Learning Controller Based on Filtered Tip Reference Input. Proceedings American Control Conference. June 4-6. Denver Colorodo. Victor Etxebarria, Arantza Sanz & Ibone Lizarraga (2005). Control of a Lightweight Flexible Robotic Arm Using Sliding Modes. International Journal of Advanced Robotic Systems. 2005. Vol 2(2): 103-110. W.S. Jang, K.S. Kim and S.K. Lee (2003). An Open-Loop Control Scheme for Minimization of Residual Vibrations of a Flexible Robot. 2003 Society for Experimental Mechanics Experimental Mechanics: 387. Y. Yang, W.G.Wang (2002). A Fuzzy Parameter Adaptive PID Controller Design of Digital Positional Servo System. Proceeding of the first International Conference on Machine Learning and Cybernetics. 2002: 310-314. Ying Sun, Runzhi Wu and Fangxiao Cheng (2007). Design of a Flexible Manipulator controller Based on Input-output Linearization. Proceedings of the IEEE International Conference on Automation and Logistics. August 18 – 21 2007. Jinan,China.

Development of a two-link flexible manipulator

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