Validation of a tip feedback sensor based flexible manipulator model
Warrink, J. and White, Anthony S. (2005) Validation of a tip feedback sensor based flexible manipulator model. International Journal of Simulation, Systems, Science & Technology, 6 (9). pp. 80-91. ISSN 1473-8031
- Published Version
Official URL: http://ducati.doc.ntu.ac.uk/uksim/journal/Vol-6/No...
Simulation of a flexible robot link using ACSL; a Fortran based simulation language is described based on the finite difference solution of a Lagrange-Euler formulation. The manipulator was controlled by classical PD and Fuzzy PD controllers. The step responses of the simulation of the model were validated with correlation coefficients. It was shown that the correlation coefficient of the simulation is greater than 78%. Simulation with the fuzzy controller can achieve correlation coefficients of 99%. The impact to the subject is to show the effectiveness of simple validation techniques to modelling approaches, now taken up by other users.
|Research Areas:||Science & Technology > Algorithms, Architecture & Networks|
|Deposited On:||15 Oct 2008 15:32|
|Last Modified:||01 Apr 2014 08:07|
Repository Staff Only: item control page
Full text downloads (NB count will be zero if no full text documents are attached to the record)
Downloads per month over the past year