Experimental verification on vibration suppression of a flexible manipulator using MPID controller

Tamer Mansour, Xin Jiang, Atsushi Konno, Masaru Uchiyama

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    6 Citations (Scopus)

    Abstract

    This paper presents a MPID (Modified Proportional-Integral-Derivative) controller used to suppress vibration of flexible manipulator moving vertically. To attain the vibration suppression a vibration variable should play role in the control signal which drives the flexible manipulator. The proposed controller is based on the conventional PID control but the integral term is replaced with another one which mainly depends on the vibration of the end effector. Camera becomes an inherent part of space manipulator, using the MPID controller with the visual information recorded by the camera makes the strain measuring circuits and amplifiers unnecessary. This means reducing the hardware used in the control of flexible manipulator. The novelty of the results lies in the fact that the measurement of the rate of change in deflection, which is used as a vibration variable, has been done without the need of numerical differentiation. Experiments successfully demonstrate that using the visual data with an observer based on Kalman filer can achieve a noticeable damping of the end effector vibration of the flexible manipulator.

    Original languageEnglish
    Title of host publication2008 IEEE International Conference on Robotics and Automation, ICRA 2008
    Pages2896-2901
    Number of pages6
    DOIs
    Publication statusPublished - 2008 Sep 18
    Event2008 IEEE International Conference on Robotics and Automation, ICRA 2008 - Pasadena, CA, United States
    Duration: 2008 May 192008 May 23

    Publication series

    NameProceedings - IEEE International Conference on Robotics and Automation
    ISSN (Print)1050-4729

    Other

    Other2008 IEEE International Conference on Robotics and Automation, ICRA 2008
    CountryUnited States
    CityPasadena, CA
    Period08/5/1908/5/23

    Keywords

    • Flexible manipulator
    • Kalman filter
    • Modified PID
    • Vibration suppression

    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering
    • Artificial Intelligence
    • Electrical and Electronic Engineering

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  • Cite this

    Mansour, T., Jiang, X., Konno, A., & Uchiyama, M. (2008). Experimental verification on vibration suppression of a flexible manipulator using MPID controller. In 2008 IEEE International Conference on Robotics and Automation, ICRA 2008 (pp. 2896-2901). [4543649] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.2008.4543649