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

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Official URL: http://ducati.doc.ntu.ac.uk/uksim/journal/Vol-6/No...

Abstract

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.

Item Type:Article
Research Areas:School of Science and Technology > Computer and Communications Engineering
ID Code:67
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Deposited On:15 Oct 2008 15:32
Last Modified:01 Aug 2014 02:59

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