ALAM, Waqar ;MEHMOOD, Adeel ;ALI, Khurram ;JAVAID, Usman ;ALHARBI, Soltan ;IQBAL, Jamshed . Nonlinear Control of a Flexible Joint Robotic Manipulator with Experimental Validation. Strojniški vestnik - Journal of Mechanical Engineering, [S.l.], v. 64, n.1, p. 47-55, june 2018. ISSN 0039-2480. Available at: <https://www.sv-jme.eu/article/nonlinear-control-of-flexible-joint-robotic-manipulator-with-experimental-validation/>. Date accessed: 20 dec. 2024. doi:http://dx.doi.org/10.5545/sv-jme.2017.4786.
Alam, W., Mehmood, A., Ali, K., Javaid, U., Alharbi, S., & Iqbal, J. (2018). Nonlinear Control of a Flexible Joint Robotic Manipulator with Experimental Validation. Strojniški vestnik - Journal of Mechanical Engineering, 64(1), 47-55. doi:http://dx.doi.org/10.5545/sv-jme.2017.4786
@article{sv-jmesv-jme.2017.4786,
author = {Waqar Alam and Adeel Mehmood and Khurram Ali and Usman Javaid and Soltan Alharbi and Jamshed Iqbal},
title = {Nonlinear Control of a Flexible Joint Robotic Manipulator with Experimental Validation},
journal = {Strojniški vestnik - Journal of Mechanical Engineering},
volume = {64},
number = {1},
year = {2018},
keywords = {flexible joint manipulator; modern control system; sliding mode control; integral sliding mode control},
abstract = {This article addresses the design and implementation of robust nonlinear control approaches to obtain the desired trajectory tracking of a flexible joint manipulator driven with a direct-current (DC) geared motor. The nonlinear control schemes have been designed and implemented such that they locally stabilize the closed loop system considering all the states as bounded. The system model has been derived using Euler-Lagrange approach. Two different approaches based on sliding mode control (SMC), i.e. the traditional SMC and integral SMC, have been considered in the present study. To experimentally validate the proposed control laws, an electrically-driven single-link flexible manipulator has been designed and fabricated. The designed control algorithms have been developed and experimentally validated on the custom-developed platform. The results obtained both from MATLAB/Simulink and the experimental platform verify the performance of the proposed control algorithms.},
issn = {0039-2480}, pages = {47-55}, doi = {10.5545/sv-jme.2017.4786},
url = {https://www.sv-jme.eu/article/nonlinear-control-of-flexible-joint-robotic-manipulator-with-experimental-validation/}
}
Alam, W.,Mehmood, A.,Ali, K.,Javaid, U.,Alharbi, S.,Iqbal, J. 2018 June 64. Nonlinear Control of a Flexible Joint Robotic Manipulator with Experimental Validation. Strojniški vestnik - Journal of Mechanical Engineering. [Online] 64:1
%A Alam, Waqar %A Mehmood, Adeel %A Ali, Khurram %A Javaid, Usman %A Alharbi, Soltan %A Iqbal, Jamshed %D 2018 %T Nonlinear Control of a Flexible Joint Robotic Manipulator with Experimental Validation %B 2018 %9 flexible joint manipulator; modern control system; sliding mode control; integral sliding mode control %! Nonlinear Control of a Flexible Joint Robotic Manipulator with Experimental Validation %K flexible joint manipulator; modern control system; sliding mode control; integral sliding mode control %X This article addresses the design and implementation of robust nonlinear control approaches to obtain the desired trajectory tracking of a flexible joint manipulator driven with a direct-current (DC) geared motor. The nonlinear control schemes have been designed and implemented such that they locally stabilize the closed loop system considering all the states as bounded. The system model has been derived using Euler-Lagrange approach. Two different approaches based on sliding mode control (SMC), i.e. the traditional SMC and integral SMC, have been considered in the present study. To experimentally validate the proposed control laws, an electrically-driven single-link flexible manipulator has been designed and fabricated. The designed control algorithms have been developed and experimentally validated on the custom-developed platform. The results obtained both from MATLAB/Simulink and the experimental platform verify the performance of the proposed control algorithms. %U https://www.sv-jme.eu/article/nonlinear-control-of-flexible-joint-robotic-manipulator-with-experimental-validation/ %0 Journal Article %R 10.5545/sv-jme.2017.4786 %& 47 %P 9 %J Strojniški vestnik - Journal of Mechanical Engineering %V 64 %N 1 %@ 0039-2480 %8 2018-06-26 %7 2018-06-26
Alam, Waqar, Adeel Mehmood, Khurram Ali, Usman Javaid, Soltan Alharbi, & Jamshed Iqbal. "Nonlinear Control of a Flexible Joint Robotic Manipulator with Experimental Validation." Strojniški vestnik - Journal of Mechanical Engineering [Online], 64.1 (2018): 47-55. Web. 20 Dec. 2024
TY - JOUR AU - Alam, Waqar AU - Mehmood, Adeel AU - Ali, Khurram AU - Javaid, Usman AU - Alharbi, Soltan AU - Iqbal, Jamshed PY - 2018 TI - Nonlinear Control of a Flexible Joint Robotic Manipulator with Experimental Validation JF - Strojniški vestnik - Journal of Mechanical Engineering DO - 10.5545/sv-jme.2017.4786 KW - flexible joint manipulator; modern control system; sliding mode control; integral sliding mode control N2 - This article addresses the design and implementation of robust nonlinear control approaches to obtain the desired trajectory tracking of a flexible joint manipulator driven with a direct-current (DC) geared motor. The nonlinear control schemes have been designed and implemented such that they locally stabilize the closed loop system considering all the states as bounded. The system model has been derived using Euler-Lagrange approach. Two different approaches based on sliding mode control (SMC), i.e. the traditional SMC and integral SMC, have been considered in the present study. To experimentally validate the proposed control laws, an electrically-driven single-link flexible manipulator has been designed and fabricated. The designed control algorithms have been developed and experimentally validated on the custom-developed platform. The results obtained both from MATLAB/Simulink and the experimental platform verify the performance of the proposed control algorithms. UR - https://www.sv-jme.eu/article/nonlinear-control-of-flexible-joint-robotic-manipulator-with-experimental-validation/
@article{{sv-jme}{sv-jme.2017.4786},
author = {Alam, W., Mehmood, A., Ali, K., Javaid, U., Alharbi, S., Iqbal, J.},
title = {Nonlinear Control of a Flexible Joint Robotic Manipulator with Experimental Validation},
journal = {Strojniški vestnik - Journal of Mechanical Engineering},
volume = {64},
number = {1},
year = {2018},
doi = {10.5545/sv-jme.2017.4786},
url = {https://www.sv-jme.eu/article/nonlinear-control-of-flexible-joint-robotic-manipulator-with-experimental-validation/}
}
TY - JOUR AU - Alam, Waqar AU - Mehmood, Adeel AU - Ali, Khurram AU - Javaid, Usman AU - Alharbi, Soltan AU - Iqbal, Jamshed PY - 2018/06/26 TI - Nonlinear Control of a Flexible Joint Robotic Manipulator with Experimental Validation JF - Strojniški vestnik - Journal of Mechanical Engineering; Vol 64, No 1 (2018): Strojniški vestnik - Journal of Mechanical Engineering DO - 10.5545/sv-jme.2017.4786 KW - flexible joint manipulator, modern control system, sliding mode control, integral sliding mode control N2 - This article addresses the design and implementation of robust nonlinear control approaches to obtain the desired trajectory tracking of a flexible joint manipulator driven with a direct-current (DC) geared motor. The nonlinear control schemes have been designed and implemented such that they locally stabilize the closed loop system considering all the states as bounded. The system model has been derived using Euler-Lagrange approach. Two different approaches based on sliding mode control (SMC), i.e. the traditional SMC and integral SMC, have been considered in the present study. To experimentally validate the proposed control laws, an electrically-driven single-link flexible manipulator has been designed and fabricated. The designed control algorithms have been developed and experimentally validated on the custom-developed platform. The results obtained both from MATLAB/Simulink and the experimental platform verify the performance of the proposed control algorithms. UR - https://www.sv-jme.eu/article/nonlinear-control-of-flexible-joint-robotic-manipulator-with-experimental-validation/
Alam, Waqar, Mehmood, Adeel, Ali, Khurram, Javaid, Usman, Alharbi, Soltan, AND Iqbal, Jamshed. "Nonlinear Control of a Flexible Joint Robotic Manipulator with Experimental Validation" Strojniški vestnik - Journal of Mechanical Engineering [Online], Volume 64 Number 1 (26 June 2018)
Strojniški vestnik - Journal of Mechanical Engineering 64(2018)1, 47-55
© The Authors, CC-BY 4.0 Int. Change in copyright policy from 2022, Jan 1st.
This article addresses the design and implementation of robust nonlinear control approaches to obtain the desired trajectory tracking of a flexible joint manipulator driven with a direct-current (DC) geared motor. The nonlinear control schemes have been designed and implemented such that they locally stabilize the closed loop system considering all the states as bounded. The system model has been derived using Euler-Lagrange approach. Two different approaches based on sliding mode control (SMC), i.e. the traditional SMC and integral SMC, have been considered in the present study. To experimentally validate the proposed control laws, an electrically-driven single-link flexible manipulator has been designed and fabricated. The designed control algorithms have been developed and experimentally validated on the custom-developed platform. The results obtained both from MATLAB/Simulink and the experimental platform verify the performance of the proposed control algorithms.