Abstract
Flexible joints are widely used, especially in robotics. It is used in many applications as an absorber for sudden changes in movement. In this paper, we used one link flexible-joint manipulator by applying exact feedback linearization to handle the high non-linearity of such a system. In addition, we compared a reference tracking of the end-effector based on two controller techniques: state feedback (SFB), and optimal control (LQR) techniques. Moreover, particle swarm optimization is used to optimize the parameters of the (SFB). Furthermore, we extract the optimal control technique for the two-link flexible-joint manipulator. Finally, the result is presented and shows the ability of the controller to track the reference signal.
| Original language | English |
|---|---|
| Title of host publication | 50th International Conference on Computers and Industrial Engineering, CIE 2023 |
| Subtitle of host publication | Sustainable Digital Transformation |
| Editors | Yasser Dessouky, Abdulrahim Shamayleh |
| Publisher | Computers and Industrial Engineering |
| Pages | 1266-1275 |
| Number of pages | 10 |
| ISBN (Electronic) | 9781713886952 |
| State | Published - 2023 |
| Event | 50th International Conference on Computers and Industrial Engineering: Sustainable Digital Transformation, CIE 2023 - Sharjah, United Arab Emirates Duration: 30 Oct 2023 → 2 Nov 2023 |
Publication series
| Name | Proceedings of International Conference on Computers and Industrial Engineering, CIE |
|---|---|
| Volume | 3 |
| ISSN (Electronic) | 2164-8689 |
Conference
| Conference | 50th International Conference on Computers and Industrial Engineering: Sustainable Digital Transformation, CIE 2023 |
|---|---|
| Country/Territory | United Arab Emirates |
| City | Sharjah |
| Period | 30/10/23 → 2/11/23 |
Bibliographical note
Publisher Copyright:© 2023 Computers and Industrial Engineering. All rights reserved.
Keywords
- Flexible Joints
- Optimal Control
- Robotics
ASJC Scopus subject areas
- General Computer Science
- Control and Systems Engineering
- Electrical and Electronic Engineering
- Industrial and Manufacturing Engineering
- Safety, Risk, Reliability and Quality