VIBRATION REDUCTION ON SINGLE-LINK FLEXIBLE MANIPULATOR USING H∞ CONTROL
| Main Authors: | Saragih, Roberd; Industrial Financial Mathematics Research Division, Faculty of Mathematics and Natural Sciences, Institut Teknologi Bandung, Bandung,, Tarwidi, Dede; Industrial Mathematics and Finance Research Division, Faculty of Mathematics and Natural Sciences, Institut Teknologi Bandung |
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| Format: | Article eJournal |
| Bahasa: | eng |
| Terbitan: |
IndoMS
, 2012
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| Subjects: | |
| Online Access: |
http://www.jims-a.org/index.php/jimsa/article/view/52 |
Daftar Isi:
- 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