Modeling and Control of Multi Flexible Link Robot: Using Classical and Intelligent controllers | ||||
The International Conference on Electrical Engineering | ||||
Article 170, Volume 6, 6th International Conference on Electrical Engineering ICEENG 2008, May 2008, Page 1-13 PDF (181.67 K) | ||||
Document Type: Original Article | ||||
DOI: 10.21608/iceeng.2008.34621 | ||||
View on SCiNiTO | ||||
Authors | ||||
Maya M. Emarah1; Ayman Hamdy M. Kassem2; Gamal M. El Bayoumi3 | ||||
1Assistant Teacher, The Higher Institute of Engineering, C.S.C.,6 of October City. | ||||
2Dr., Associate Professor, Faculty of Engineering, Cairo University. | ||||
3Prof. Dr., Professor, Faculty of Engineering, Cairo University. | ||||
Abstract | ||||
Abstract: The objective of this paper is concentrated on position and vibration control of multi flexible links robots which take a wide place of research now, especially in aerospace applications (e.g. the space shuttle). A discussion of the kinematics and dynamics of the flexible multi-link robots was established based on Newton-Euler formulation leading to a nonlinear dynamic model was simulated. A linearization of nonlinear model of two flexible links was followed result a linear model which was formed as a state space form, so an optimal control was applied. Fuzzy control was also applied to the linear model obtained from the above linearization. Finally a nonlinear model of two flexible links was simulated and fuzzy control was applied with different suggested trajectories and Simulation results for control demonstrate that the controllers perform very well for the tracking the desired trajectories. | ||||
Keywords | ||||
Flexible link; Fuzzy control; optimal control; kinematics; dynamics nonlinear model | ||||
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