Double Stage Controller for High Flexible Link Manipulators
Jabbour, E., Mahgoub, H., Mekhail, N., Elraouf, A. (2009). Double Stage Controller for High Flexible Link Manipulators. EKB Journal Management System, 13(AEROSPACE SCIENCES & AVIATION TECHNOLOGY, ASAT- 13, May 26 – 28, 2009), 1-12. doi: 10.21608/asat.2009.23536
Eyad Sh. Jabbour; Hussein M. Mahgoub; Nabil G. Mekhail; Ahmed M. A. Elraouf. "Double Stage Controller for High Flexible Link Manipulators". EKB Journal Management System, 13, AEROSPACE SCIENCES & AVIATION TECHNOLOGY, ASAT- 13, May 26 – 28, 2009, 2009, 1-12. doi: 10.21608/asat.2009.23536
Jabbour, E., Mahgoub, H., Mekhail, N., Elraouf, A. (2009). 'Double Stage Controller for High Flexible Link Manipulators', EKB Journal Management System, 13(AEROSPACE SCIENCES & AVIATION TECHNOLOGY, ASAT- 13, May 26 – 28, 2009), pp. 1-12. doi: 10.21608/asat.2009.23536
Jabbour, E., Mahgoub, H., Mekhail, N., Elraouf, A. Double Stage Controller for High Flexible Link Manipulators. EKB Journal Management System, 2009; 13(AEROSPACE SCIENCES & AVIATION TECHNOLOGY, ASAT- 13, May 26 – 28, 2009): 1-12. doi: 10.21608/asat.2009.23536

Double Stage Controller for High Flexible Link Manipulators

International Conference on Aerospace Sciences and Aviation Technology
Article 39, Volume 13, AEROSPACE SCIENCES & AVIATION TECHNOLOGY, ASAT- 13, May 26 – 28, 2009, May 2009, Page 1-12  XML PDF (236.8 K)
Document Type: Original Article
DOI: 10.21608/asat.2009.23536
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Authors
Eyad Sh. Jabbour1; Hussein M. Mahgoub2; Nabil G. Mekhail2; Ahmed M. A. Elraouf3
1Syrian Armed Forces.
2Egyptian Armed Forces.
3Prof. Dr., Menoufia University.
Abstract
It is possible to use a PD controller to get acceptable tracking to a joint angle trajectory of a single flexible link manipulator. However, it has a poor capability to damp out end effector vibrations at the end of the trajectory following phase. Another controller can be used at the end of this phase to damp out end effector vibrations excited during this phase. The paper suggests the start of application of the second controller at the midpoint of the trajectory phase, and not at its end. This idea under consideration is investigated by a SIMULINK model within MATLAB environment where better results concerning overshoot are obtained.
Keywords
Flexible manipulator; robot control; model based controller
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