Validation of a tip feedback sensor based flexible manipulator model

Article

Warrink, J. and White, A.S. 2005. Validation of a tip feedback sensor based flexible manipulator model. International Journal of Simulation, Systems, Science & Technology. 6 (9), pp. 80-91.
TypeArticle
TitleValidation of a tip feedback sensor based flexible manipulator model
AuthorsWarrink, J. and White, A.S.
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.

PublisherUK Simulation Society
JournalInternational Journal of Simulation, Systems, Science & Technology
ISSN1473-8031
Publication dates
PrintAug 2005
Publication process dates
Deposited15 Oct 2008
Output statusPublished
Publisher's version
Web address (URL)http://ducati.doc.ntu.ac.uk/uksim/journal/Vol-6/No.9/Paper8.pdf
LanguageEnglish
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