제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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End-point position control of a flexible arm by PID self-tuning fuzzy controller

  • Yang, G.T. (Dept. of Mechanical Engineering, Chonbuk University) ;
  • Ahn, S.D. (Dept. of Mechanical Engineering, Chonbuk University) ;
  • Lee, S.C. (Dept. of Mechanical Engineering, Chonbuk University) ;
  • Chonan, S. (Dept. of Aeronautics and Space Engineering, Tohoku Univ.) ;
  • Inooka, H. (Dept. of System Information Science, Graduate School, Tohoku Univ.)
  • Published : 1993.10.01
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Abstract

This paper presents an end-point position control of 1-link flexible robot arm by the PID self-tuning fuzzy algorithm. The governing equation is derived by the extended Hamilton's principle and based on the Bernoullie-Euler beam theory. The governing equation is solved by applying the Laplace transform and the numerical inversion method. The arm is mounted on the translational mechanism driven by a ballscrew whose rotation is controlled by dcservomotor. Tip position is controlled by the PID self-tuning fuzzy algorithm so that it follows a desired position. This paper shows the experimental and theoretical results of tip dispalcement, and also shows the good effects reducing the residual vibration of the end-point.

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