About this Journal Submit a Manuscript Table of Contents
ISRN Artificial Intelligence
Volume 2012 (2012), Article ID 309687, 8 pages
http://dx.doi.org/10.5402/2012/309687
Research Article

Control of Flexible Joint Manipulator via Reduced Rule-Based Fuzzy Control with Experimental Validation

1Control and Intelligent Processing Center of Excellence, School of Electrical and Computer Engineering, University of Tehran, Tehran, Iran
2Department of Control Engineering, Faculty of Electrical Engineering, K. N. Toosi University of Technology, Tehran, Iran
3Department of Mechatronics Engineering, Faculty of Electrical Engineering, K.N. Toosi University of Technology, Tehran, Iran

Received 5 August 2011; Accepted 20 September 2011

Academic Editor: L. Mikhailov

Copyright © 2012 Mojtaba Rostami Kandroodi et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Linked References

  1. M. W. Spong and M. Vidyasagar, Robot Dynamics and Control, Wiley, New York, NY, USA, 1989.
  2. S. E. Talole, J. P. Kolhe, and S. B. Phadke, “Extended-state-observer-based control of flexible-joint system with experimental validation,” IEEE Transactions on Industrial Electronics, vol. 57, no. 4, Article ID 5210149, pp. 1411–1419, 2010. View at Publisher · View at Google Scholar · View at Scopus
  3. F. M. Botsali, M. Kalyoncu, M. Tinkir, and U. Onen, “Fuzzy logic trajectory control of flexible robot manipulator with rotating prismatic joint,” in Proceedings of the 2nd International Conference on Computer and Automation Engineering (ICCAE '10), pp. 35–39, February 2010. View at Publisher · View at Google Scholar · View at Scopus
  4. M. A. Ahmad, “Vibration and input tracking control of flexible manipulator using LQR with non-collocated PID controller,” in Proceeding of 2nd UKSIM European Symposium on Computer Modelling and Simulation, pp. 40–45, September 2008. View at Publisher · View at Google Scholar · View at Scopus
  5. W. Yim, “Adaptive control of a flexible joint manipulator,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '01), pp. 3441–3446, May 2001. View at Scopus
  6. J. H. Oh and J. S. Lee, “Control of flexible joint robot system by backstepping design approach,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '97), vol. 4, pp. 3435–3440, April 1997. View at Scopus
  7. F. Ghorbel, J. Y. Hung, and M. W. Spong, “Adaptive control of flexible-joint manipulators,” IEEE Control Systems Magazine, vol. 9, no. 7, pp. 9–13, 1989. View at Scopus
  8. L. C. Lin and K. Yuan, “Control of flexible joint robots via external linearization approach,” Journal of Robotic Systems, vol. 7, no. 1, pp. 1–22, 2007. View at Scopus
  9. M. W. Spong, K. Khorasani, and P. V. Kokotovic, “An integral manifold approach to the feedback control of flexible joint robots,” IEEE Journal of Robotics and Automation, vol. 3, no. 4, pp. 291–300, 1987. View at Scopus
  10. P. Tomei, “A simple PD controller for robots with elastic joints,” IEEE Transactions on Automatic Control, vol. 36, no. 10, pp. 1208–1213, 1991. View at Publisher · View at Google Scholar · View at MathSciNet · View at Scopus
  11. J. S. Yeon and J. H. Park, “Practical robust control for flexible joint robot manipulators,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '08), pp. 3377–3382, May 2008. View at Publisher · View at Google Scholar · View at Scopus
  12. M. A. Ahmad, R. M. T. Raja Ismail, M. S. Ramli, and M. A. Zawawi, “Elastic joint control using non-collocated fuzzy and filtering scheme: a comparative assessment,” in Proceedings of the 4th Asia International Conference on Mathematical/Analytical Modelling and Computer Simulation, pp. 366–371, May 2010. View at Publisher · View at Google Scholar · View at Scopus
  13. M. A. Ahmad, M. H. Suid, M. S. Ramli, M. A. Zawawi, and R. M. T. Raja Ismail, “PD fuzzy logic with non-collocated PID approach for vibration control of flexible joint manipulator,” in Proceedings of the 6th International Colloquium on Signal Processing and Its Applications (CSPA '10), May 2010. View at Publisher · View at Google Scholar · View at Scopus
  14. A. Jnifene and W. Andrews, “Experimental study on active vibration control of a single-link flexible manipulator using tools of fuzzy logic and neural networks,” IEEE Transactions on Instrumentation and Measurement, vol. 54, no. 3, pp. 1200–1208, 2005. View at Publisher · View at Google Scholar · View at Scopus
  15. M. A. Ahmad, R. M. T. Raja Ismail, M. S. Ramli, M. A. Zawawi, N. Hambali, and N. M. Abd Ghani, “Vibration control of flexible joint manipulator using input shaping with PD-type fuzzy logic control,” in Proceedings of the IEEE International Symposium on Industrial Electronics (ISIE '09), pp. 1184–1189, July 2009. View at Publisher · View at Google Scholar · View at Scopus
  16. M. A. Ahmad, R. M. T. R. Ismail, and M. S. Ramli, “Optimal control with input shaping for input tracking and vibration suppression of a flexible joint manipulator,” European Journal of Scientific Research, vol. 28, no. 4, pp. 584–600, 2009. View at Scopus
  17. M. A. Ahmad, M. S. Ramli, R. M. T. Raja Ismail, N. Hambali, and M. A. Zawawi, “The investigations of input shaping with optimal state feedback for vibration control of a flexible joint manipulator,” in Proceedings of the Conference on Innovative Technologies in Intelligent Systems and Industrial Applications (CITISIA '09), pp. 446–451, July 2009. View at Publisher · View at Google Scholar · View at Scopus
  18. F. Farivar, M. A. Nekoui, M. A. Shoorehdeli, and M. Teshnehlab, “Sliding mode control of flexible joint using Gaussian Radial Basis Function Neural Networks,” in Proceedings of the International Conference on Computer and Electrical Engineering (ICCEE '08), pp. 856–860, December 2008. View at Publisher · View at Google Scholar · View at Scopus
  19. S. Ozgoli and H. D. Taghirad, “Design of composite control for flexible joint robots with saturating actuators,” in Proceedings of the 5th Iranian Conference on Fuzzy Systems, pp. 75–82, 2004.
  20. M. R. Kandroodi, F. Farivar, M. Z. Pedram, and M. A. Shoorehdeli, “Variable structure control and anti-control of flexible joint manipulator with experimental validation,” in Proceedings of the IEEE Intemational Conference on Mechatronics, pp. 294–299, 2011.
  21. H. Chaoui, P. Sicard, and A. Lakhsasi, “Reference model supervisory loop for neural network based adaptive control of a flexible joint with hard nonlinearities,” in Proceedings of the Canadian Conference on Electrical and Computer Engineering, pp. 2029–2034, May 2004. View at Scopus
  22. D. Hui, S. Fuchun, and S. Zengqi, “Observer-based adaptive controller design of flexible manipulators using time-delay neuro-fuzzy networks,” Journal of Intelligent and Robotic Systems: Theory and Applications, vol. 34, no. 4, pp. 453–466, 2002. View at Publisher · View at Google Scholar · View at Scopus
  23. B. Subudhi and A. S. Morris, “Singular perturbation based neuro-H∞ control scheme for a manipulator with flexible links and joints,” Robotica, vol. 24, no. 2, pp. 151–161, 2006. View at Publisher · View at Google Scholar · View at Scopus
  24. “Quanser Student Handout, Rotary Flexible Joint Module,” http://www.quanser.com.