Position and vibration control of a flexible robot manipulator using hybrid controller

H. W. Park, H. S. Yang, Y. P. Park, S. H. Kim

Research output: Contribution to journalArticlepeer-review

Abstract

In this work, position and vibration control problem of a flexible robot arm with a voice coil type actuator is investigated. For the vibration suppression, a voice coil type actuator is designed and is implemented using H control scheme, in order to guarantee the controlled system robust against unmodeled higher-order mode vibration of the arm, output sensor noise, etc. A fuzzy logic based controller is used for the position and vibration control of the joint hub. Experimental results confirm that the proposed hybrid control scheme of combining fuzzy logic and H controller achieves efficient positioning and vibration suppression performances.

Original languageEnglish (US)
Pages (from-to)31-41
Number of pages11
JournalRobotics and Autonomous Systems
Volume28
Issue number1
DOIs
StatePublished - Jul 31 1999

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Mathematics(all)
  • Computer Science Applications

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