Internal Model Control of a Multilink Flexible Manipulator

DOI

10.2991/caai-17.2017.22How to use a DOI?

Keywords

internal model control; flexible manipulator; robust control

Abstract

This paper investigates the use on the internal model control technique in the mitigation of link vibration on a flexible manipulator with load disturbances. Flexible manipulators have gained popularity in the engineering field which require precision at high speed of operation. However, they suffer from link vibrations especially when operated at high speed or when subjected to external disturbances. This limits their application to those where the speed of operation and/or accuracy is not a factor. Researchers have attempted to address this issue using methods such as fixed digital filters, adaptive filters etc. Internal model control technique employs an element of the plant to control it. From the simulation results, we found that IMC is a robust method for the mitigation of link vibration.

Copyright

© 2017, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Waweru Njeri
AU  - Minoru Sasaki
AU  - Kojiro Matsushita
PY  - 2017/06
DA  - 2017/06
TI  - Internal Model Control of a Multilink Flexible Manipulator
BT  - Proceedings of the 2017 2nd International Conference on Control, Automation and Artificial Intelligence (CAAI 2017)
PB  - Atlantis Press
SP  - 109
EP  - 114
SN  - 1951-6851
UR  - https://doi.org/10.2991/caai-17.2017.22
DO  - 10.2991/caai-17.2017.22
ID  - Njeri2017/06
ER  -