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The Fuzzy Control of Rigid-flexible Manipulators Based on Low-dimensional-approximate Model

Author: ChenLin
Tutor: DengHua
School: Central South University
Course: Mechanical Engineering
Keywords: Rigid-Flexible manipulator low-dimensional-approximatemodel experimental validation Fuzzy-PD controller controlexperiments
CLC: TP241
Type: Master's thesis
Year: 2013
Downloads: 16
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Abstract


With the development of science and technology, the flexible component is more and more widely applied in aviation. The research on the flexible component become hotspot and frontier gradually, because of it’s high running speed, lower energy consumption, higher precision and so on. At the same time, the dynamic model is very complex and the problems of flexible deformation and vibration caused by the flexible feature. The position location of the tip is very difficult. In this paper, the rigid-flexible manipulator based on low-dimensional-approximate model is used as the research object based on predecessors’researchs. We take experiments to validate the dynamic based on the rigid-flexible manipulator experimental platform. In this paper, the Fuzzy-PD controller was used to control the tip position of the flexible manipulator. And the experiments were taken on the experimental platform. The main works and achievements are shown as follows:(1) The rigid-flexible manipulator based on low-dimensional-approximat-e model is used as the research object. And the experimental validations were carried out to assess the effectiveness of the modeling. Then the simulations were taken to analysis the characteristics of the dynamic model.(2) Combined with the characteristics of the second order kinetics model. The Fuzzy-PD controller with state feedback control strategy was designed to control the rigid-flexible manipulator. And the simulation results were compared with the traditional PD controller. The simulation results show that his control strategy has good control performance and robustness.(3) The control system was designed based on the rigid-flexible manipulator experimental platform. And the experiments of Fuzzy-PD and traditional PD were taken on the experimental platform. The experimental results show that the control strategy has better control performance and robustness than the traditional PD controller.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Manipulator
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