VIBRATION REDUCTION ON SINGLE-LINK FLEXIBLE MANIPULATOR USING HCONTROL

Roberd Saragih, Dede Tarwidi

Abstract


This paper is concerned with the vibration and position control of a single link flexible manipulator. Robot link manipulators are widely used in various industrial applications. It is desirable to build light weight flexible manipulators. Light flexible manipulators have a variety of applications, most significantly in space exploration,manufacturing automation, construction, mining, and hazardous operation. Timoshenko beam theory is used to derive mathematical model of a flexible manipulator. The dynamic equations of motion are obtained using the Lagrange's formulation of dynamics.The H∞ controller is designed for vibration and position control of the system. Simulations are presented and show that vibration and position control of a single flexible link can be controlled with the designed H∞ controller.

DOI : http://dx.doi.org/10.22342/jims.14.2.52.73-82


Keywords


vibration reduction, flexible manipulator, Timoshenko beam theory, Lagrange's formulation of dynamics.

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DOI: https://doi.org/10.22342/jims.14.2.52.73-82

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Journal of the Indonesian Mathematical Society
Mathematics Department, Universitas Gadjah Mada
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p-ISSN: 2086-8952 | e-ISSN: 2460-0245


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