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
Permalink -

https://repository.mdx.ac.uk/item/80v3q

Log in to edit

Download files

Publisher's version
r401699.pdf

  • 178
    total views
  • 32
    total downloads
  • 5
    views this month
  • 1
    downloads this month

Export as

Related outputs

An analysis of beer game trials
White, A.S., Brodie, L. and Censlive, M. 2020. An analysis of beer game trials. London, UK Middlesex University.
Testing literacy educational software to develop design guidelines for children with Autism
Tuedor, M., Franco, F., White, A.S., Smith, S. and Adams, R. 2018. Testing literacy educational software to develop design guidelines for children with Autism. International Journal of Disability, Development and Education. 66 (1), pp. 19-35. https://doi.org/10.1080/1034912X.2018.1450494
Inventory control systems model for strategic capacity acquisition
White, A.S. and Censlive, M. 2016. Inventory control systems model for strategic capacity acquisition. Journal of Industrial Engineering. 2016, pp. 1-16. https://doi.org/10.1155/2016/1650863
Optimising cash flows in APVIOBPCS using control theory
White, A.S., Prior, S., Censlive, M. and Karamanoglu, M. 2010. Optimising cash flows in APVIOBPCS using control theory. ICMES.
A new approach to estimation of non-isotropic scale factors for correction of MR distortion
Gao, X., Hui, R., White, A.S. and Tian, Z. 2009. A new approach to estimation of non-isotropic scale factors for correction of MR distortion. International Journal of Computer Assisted Radiology and Surgery. 4 (s1), pp. s349-s350.
Human supervision of automated systems and the implications of double loop learning
White, A.S. 2009. Human supervision of automated systems and the implications of double loop learning. Systems Research: Lessons from the Past - Progress for the Future. St Anne's College, University of Oxford 01 - 02 Sep 2009
The effect of control system decisions on the cash flows in APVIOBPCS
White, A.S. and Censlive, M. 2009. The effect of control system decisions on the cash flows in APVIOBPCS. 7th International Conference on Manufacturing Research (ICMR 09). University of Warwick, Coventry, UK
A state-space representation of generalised order-up-to policies
White, A.S. and Censlive, M. 2009. A state-space representation of generalised order-up-to policies. 23rd European Conference on Operational Research.. Bonn, Germany.
An acceptability predictor for websites
Adams, R., White, A.S. and Ceylan, E. 2009. An acceptability predictor for websites. in: Universal access in human-computer interaction. Applications and services. Springer Berlin.
Development of a novel platform for greater situational awareness in the urban military terrain
Prior, S., Shen, S-T., White, A.S., Odedra, S., Karamanoglu, M., Erbil, M. and Foran, T. 2009. Development of a novel platform for greater situational awareness in the urban military terrain. Harris, D. (ed.) 8th International Conference on Engineering Psychology and Cognitive Ergonomics (EPCE). San Diego, CA, USA 19 - 24 Jul 2009 Berlin Springer. pp. 120-125 https://doi.org/10.1007/978-3-642-02728-4_13
Evaluating choice in universal access: an HCI example from rehabilitation robotics
Prior, S., White, A.S. and Adams, R. 2009. Evaluating choice in universal access: an HCI example from rehabilitation robotics. Universal Access in the Information Society. 8 (3), pp. 155-163.
Impact of mental models on system modelling: a case study
White, A.S. 2008. Impact of mental models on system modelling: a case study. The Systemist. 30 (2), pp. 385-397.
The inclusion of shelf-life effects into APIOBPCS inventory models
White, A.S. and Censlive, M. 2008. The inclusion of shelf-life effects into APIOBPCS inventory models. The 6th International Conference on Manufacturing Research (ICMR08).. Brunel University, UK. pp. 799-806
Supply chain challenges in developing countries: cross industry case studies
Khalifa, N., White, A.S. and ElSayed, A. 2008. Supply chain challenges in developing countries: cross industry case studies. IEEE SMC UK&RI 6th Conference on Cybernetic Systems 2008.. Middlesex University, London, UK.
The effect of sales smoothing on inventory performance
White, A.S., Gill, R. and Censlive, M. 2008. The effect of sales smoothing on inventory performance. Journal of Konbin. 8 (1), pp. 201-210. https://doi.org/10.2478/v10040-008-0113-8
Including design in e-manufacturing
White, A.S., Shen, S. and Prior, S. 2008. Including design in e-manufacturing. International Journal of Electronic Business Management. 6 (2), pp. 99-105.
Cybernetic analysis of software projects
White, A.S. 2007. Cybernetic analysis of software projects. IEEE SMC UK&RI 6th Conference on Cybernetic Systems 2007.. University College Dublin, Republic of Ireland 06 - 07 Sep 2007
Comparing the personality type of design students in the UK and Taiwan
Prior, S., Shen, S., White, A.S. and Karamanoglu, M. 2007. Comparing the personality type of design students in the UK and Taiwan. Dainoff, M. (ed.) Ergonomics and health aspects of work with computers: International Conference, EHAWC 2007, Held as Part of HCI International Conference. Beijing, China,
Control of Ship capsize in stern quartering seas
White, A.S., Gleeson, P. and Karamanoglu, M. 2007. Control of Ship capsize in stern quartering seas. International Journal of Simulation, Systems, Science & Technology. 8 (2), pp. 20-31.
Using personality type differences to form engineering design teams
Shen, S., Prior, S., White, A.S. and Karamanoglu, M. 2007. Using personality type differences to form engineering design teams. Engineering Education. 2 (2), pp. 54-66.
Usability design of a scanning interface for a robot used by disabled users
White, A.S. and Prior, S. 2007. Usability design of a scanning interface for a robot used by disabled users. in: Stephanidis, C. (ed.) Universal access in human computer interaction: 4th international conference on universal access in human-computer interaction, UAHCI 2007. Berlin Springer.
Gesture recognition for control of rehabilitation robots
Gerlich, L., Parsons, B., White, A.S., Prior, S. and Warner, P. 2007. Gesture recognition for control of rehabilitation robots. Cognition, Technology and Work. 9 (4), pp. 189-207. https://doi.org/10.1007/s10111-007-0062-3
Using control engineering to improve supply chains
White, A.S. and Censlive, M. 2006. Using control engineering to improve supply chains. 5th Chapter Conference on Advances in Cybernetic Systems 2006. City Campus, Sheffield Hallam University, UK 07 - 08 Sep 2006
Winding control using pseudo-derivative feedback
White, A.S., Iwashita, T., Strothmeyer, H., Buaka, L. and Sinclair, R. 2006. Winding control using pseudo-derivative feedback. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering. 220 (4), pp. 283-299. https://doi.org/10.1243/09596518JSCE180
Validation methods for an accessible user interface for a rehabilitation robot
Parsons, B., White, A.S., Warner, P. and Gill, R. 2006. Validation methods for an accessible user interface for a rehabilitation robot. Universal Access in the Information Society. 5 (3), pp. 306-324. https://doi.org/10.1007/s10209-006-0051-y
Observations on modelling strategies for vendor-managed inventory
White, A.S. and Censlive, M. 2006. Observations on modelling strategies for vendor-managed inventory. Journal of Manufacturing Technology Management. 17 (4), pp. 496-512. https://doi.org/10.1108/17410380610662915
External disturbance control for software project management
White, A.S. 2006. External disturbance control for software project management. International Journal of Project Management. 24 (2), pp. 127-135.
Modelling strategies for vendor-managed inventory
White, A.S. and Censlive, M. 2005. Modelling strategies for vendor-managed inventory. Sterman, J., Repenning, N., Langer, R., Rowe, J. and Yanni, J. (ed.) The 23rd International Conference of the System Dynamics Society.. Boston, USA 17 - 21 Jul 2005 The System Dynamics Society.
A performance measurement paradigm for integrating strategy formulation: a review of systems and frameworks
Pun, K. and White, A.S. 2005. A performance measurement paradigm for integrating strategy formulation: a review of systems and frameworks. International Journal of Management Reviews. 7 (1), pp. 49-71. https://doi.org/10.1111/j.1468-2370.2005.00106.x
The Middlesex University rehabilitation robot
Parsons, B., White, A.S., Prior, S. and Warner, P. 2005. The Middlesex University rehabilitation robot. Journal of Medical Engineering & Technology. 29 (4), pp. 151-162. https://doi.org/10.1080/03091900412331298898
Observations on modelling strategies for vendor managed inventory
White, A.S. and Censlive, M. 2004. Observations on modelling strategies for vendor managed inventory. The Second International Conference on Manufacturing Research ICMR2004.. Sheffield Hallam University, Sheffield, UK 07 - 09 Sep 2004
Quantitative validation techniques, a database. (1) Simple examples
White, A.S. and Sinclair, R. 2004. Quantitative validation techniques, a database. (1) Simple examples. Simulation modelling practice and theory. 12 (6), pp. 451-473. https://doi.org/10.1016/j.simpat.2004.06.001
Determinants of manufacturing strategy formulation: a longitudinal study in Hong Kong
Pun, K., Chin, K., White, A.S. and Gill, R. 2004. Determinants of manufacturing strategy formulation: a longitudinal study in Hong Kong. Technovation. 24 (2), pp. 121-137. https://doi.org/10.1016/S0166-4972(02)00050-0
A qualitative systems dynamic model of human monitoring of automated systems
White, A.S. 2003. A qualitative systems dynamic model of human monitoring of automated systems. 21st System Dynamics Conference. New York, USA 20 - 24 Jul 2003
Systematic errors in active 3-D vision sensors
Ruocco, R., White, A.S. and Jarrett, D. 2003. Systematic errors in active 3-D vision sensors. IEE proceedings. Vision, image and signal processing. 150 (6), pp. 341-345. https://doi.org/10.1049/ip-vis:20030794
A parallel fuzzy-controlled flexible manipulator using optical tip feedback
Surdhar, J. and White, A.S. 2003. A parallel fuzzy-controlled flexible manipulator using optical tip feedback. Robotics and Computer-Integrated Manufacturing. 19 (3), pp. 273-282. https://doi.org/10.1016/S0736-5845(02)00086-8
Control strategies for inventory management
White, A.S., Yan, Y., Akpunar, E. and Hock, K. 2002. Control strategies for inventory management. 20th Systems Dynamics Conference.. Palermo, Italy
Quasi-optimal trajectory planning and control of a CRS A251 industrial robot
Miro, J. and White, A.S. 2002. Quasi-optimal trajectory planning and control of a CRS A251 industrial robot. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering. 216 (4), pp. 343-356.
Modelling an industrial manipulator: a case study
Miro, J. and White, A.S. 2002. Modelling an industrial manipulator: a case study. Simulation modelling practice and theory. 9 (6), pp. 293-319. https://doi.org/10.1016/S0928-4869(01)00046-5
Development of IMS tools for mechatronic systems
Prior, S., White, A.S., Gill, R. and Singh, M. 2001. Development of IMS tools for mechatronic systems. Pham, D., Dimov, S. and O'Hagan, V. (ed.) 17th National Conference on Manufacturing Research. Cardiff University, UK 04 - 06 Sep 2001 Bury St Edmunds, UK Professional Engineering Publishing. pp. 87-92
Advent of generic components in a mechatronic control software environment
Prior, S., White, A.S., Gill, R. and Singh, M. 2001. Advent of generic components in a mechatronic control software environment. in: Proceedings of the WSES international conference on robotics, distance learning and intelligent communication systems (RODLICS 2001) IEEE/WSES.
A CORBA paradigm for open approach to mechatronic systems
Prior, S., White, A.S., Gill, R., Singh, M. and International Association of Science and Technology for Development. 2001. A CORBA paradigm for open approach to mechatronic systems. in: Hamza, M. (ed.) Robotics and applications : proceedings of the IASTED international conference. Anaheim, CA. Acta Press. pp. 49-54
Mechatronics of systems with undetermined configurations
White, A.S. 1999. Mechatronics of systems with undetermined configurations. PhD thesis Middlesex University
Measurements and simulation of a pneumatic muscle actuator for a rehabilitation robot
Prior, S. and White, A.S. 1995. Measurements and simulation of a pneumatic muscle actuator for a rehabilitation robot. Simulation Practice and Theory. 3 (2), pp. 81-117. https://doi.org/10.1016/0928-4869(95)00010-Q
A novel pneumatic actuator
Prior, S., White, A.S., Gill, R., Parsons, J. and Warner, P. 1993. A novel pneumatic actuator. International Conference on Systems, Man and Cybernetics, 1993. 'Systems Engineering in the Service of Humans'. Le Touquet, France 17 - 20 Oct 1993 IEEE. https://doi.org/10.1109/ICSMC.1993.384779
Actuators for rehabilitation robots
Prior, S., Warner, P., White, A.S., Parsons, J. and Gill, R. 1993. Actuators for rehabilitation robots. Mechatronics. 3 (3), pp. 285-294. https://doi.org/10.1016/0957-4158(93)90003-K