Volume 17, Issue 10 (1-2018)
Modares Mechanical Engineering 2018, 17(10): 411-419 |
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Delavari H, Azizkhani A, Shiuooei P. Design and Practical Implementation of a Fractional Order PID Controller for a Single Flexible-Link Robot. Modares Mechanical Engineering 2018; 17 (10) :411-419
URL: http://mme.modares.ac.ir/article-15-4144-en.html
URL: http://mme.modares.ac.ir/article-15-4144-en.html
1- Hamedan University of Technology
2- Department of Electrical Engineering, Hamedan University of Technology, Hamedan, Iran
3- Department of Robotic Engineering, Hamedan University of Technology, Hamedan, Iran
2- Department of Electrical Engineering, Hamedan University of Technology, Hamedan, Iran
3- Department of Robotic Engineering, Hamedan University of Technology, Hamedan, Iran
Abstract: (6771 Views)
Energy saving, low robot mass to carried mass ratio, more ability to work in various environments, easier delivery of parts and lower production costs in flexible robots make these robots more attractive than rigid robots to many researchers and industries. But due to nonlinearities in flexible robot system and high vibration in operation points and also more sensitivity against external disturbances, control of these robots is more difficult and complex. In this paper a controller for a flexible link manipulator based on fractional calculus is practically implemented. At first the dynamic model of a single flexible-link robot is introduced. Then various controllers such as fuzzy control, PID control, and fractional order PID torque control are practically implemented on a single flexible-link robot made in laboratory, and then the performance of each controllers in decreasing of arm vibration in final desired point and tracking error reduction are investigated. Further, to compare the robustness of the designed controllers, a same constant disturbance is applied to all controllers and their performance are compared. Finally, the simulation results and experimental results show that the fractional order PID torque controller has the best results among the implemented controllers.
Keywords: Single flexible-link, Fractional Calculus, Fuzzy Control, Fractional order PID torque control, Disturbance, Tracking error
Article Type: Research Article |
Subject:
robatic
Received: 2017/07/31 | Accepted: 2017/09/24 | Published: 2017/10/27
Received: 2017/07/31 | Accepted: 2017/09/24 | Published: 2017/10/27
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