Abstract The residual vibration of the flexible joint manipulator during and after movement will seriously affects positioning accuracy manipulator. This paper discusses trajectory planning method for suppressing vibration. A optimal model which contains minimization both time jerk was proposed. An optimization based on comprehensive learning particle swarm (CLPSO) algorithm utilized solving pr...

The objective of the work reported in this paper is to investigate the development of hybrid iterative learning control with input shaping for input tracking and end-point vibration suppression of a flexible manipulator. The dynamic model of the system is derived using the finite element method. Initially, a collocated proportional-derivative (PD) controller utilizing hub-angle and hub-velocity...

ii using them to find global minimum point of seven well-known benchmark functions commonly used in development of optimisation techniques development. The results show that all ABFAs achieve better accuracy and speed compared to those of SBFA. The ABFAs are then used in modelling and control of a single-link flexible manipulator system. This includes modelling (based on linear model structures...

A rigid-flexible manipulator may be assigned tasks in a moving environment where the winds or vibrations affect the position and/or orientation of surface of operation. Consequently, losses of the contact and perhaps degradation of the performance may occur as references are changed. When the environment is moving, knowledge of the angle α between the contact surface and the horizontal is requi...

Flexible-link robotic manipulators are mechanical devices whose control can be rather challenging, among other reasons because of their intrinsic under-actuated nature. This chapter presents various experimental studies of diverse robust control schemes for this kind of robotic arms. The proposed designs are based on several control strategies with well defined theoretical foundations whose eff...

Identifying a linear parameter-varying (LPV) model of a non-linear system from local experiments (i.e., experiments with small displacements around given positions) is a problem which still deserves attention. Rather than building a model either from the law of physics or from experimental data independently, the combination of an analytic and an experimental approach is used in this paper to i...