TY - JOUR
T1 - Position and vibration control of a flexible robot manipulator using hybrid controller
AU - Park, H. W.
AU - Yang, H. S.
AU - Park, Y. P.
AU - Kim, S. H.
N1 - Funding Information:
Seung Ho Kim receivedB .S., M.S. and Ph.D. degrees in Mechanical Engineeringfr om Yonsei University, Korea in 1988.S ince 1980 he has beena lab manageor f the Advanced RoboticsL ab in KoreaA tomicE nergy ResearchIn stitute,t echnicadl evelop- mentt askm anagefro r nuclearro botic systemd evelopmenutn dert he Korea Ministry of Science, and principal investigator/projemcta nagerf or the long term nucleard evelopmenptr o-gram under the Korea Ministry of Science.H is research interestsin cludec ontrolo f flexibles tructuresA, GV, and tele-operatedro botics ystemsr equiredfo r maintenance/inspection tasksu nderh ighr adiatione nvironments.
PY - 1999/7/31
Y1 - 1999/7/31
N2 - 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.
AB - 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.
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U2 - 10.1016/S0921-8890(99)00027-5
DO - 10.1016/S0921-8890(99)00027-5
M3 - Article
AN - SCOPUS:0033620764
SN - 0921-8890
VL - 28
SP - 31
EP - 41
JO - Robotics and Autonomous Systems
JF - Robotics and Autonomous Systems
IS - 1
ER -