Modelling and control of a robotic structure double link flexible manipulator
Not available
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| Format: | Bachelor thesis |
| Language: | English |
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Universiti Teknologi Malaysia
2025
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| Online Access: | https://utmik.utm.my/handle/123456789/41734 |
| Abstract | Abstract here |
| _version_ | 1854975139373907968 |
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| author | Lam, Zheng Loong |
| author2 | Intan Zaurah Mat Darus, supervisor |
| author_facet | Intan Zaurah Mat Darus, supervisor Lam, Zheng Loong |
| author_sort | Lam, Zheng Loong |
| description | Not available |
| format | Bachelor thesis |
| id | utm-123456789-41734 |
| institution | Universiti Teknologi Malaysia |
| language | English |
| publishDate | 2025 |
| publisher | Universiti Teknologi Malaysia |
| record_format | dspace |
| record_pdf | Abstract |
| spelling | utm-123456789-417342025-03-10T18:11:29Z Modelling and control of a robotic structure double link flexible manipulator Lam, Zheng Loong Intan Zaurah Mat Darus, supervisor Mechanical engineering Not available Robotic manipulator is widely used in manufacturing industries. However, controlling the motion of double link manipulator can be easily influenced by unwanted vibration which may cause fatigue and damage to the robotic structure. The purpose of this study is to develop dynamic models and controllers of hub angle position and end-point acceleration for robotic structure double link manipulator. The study utilises least square (LS) and recursive least square (RLS) estimations to model the system using system identification technique. The estimated models will be utilised in the controllers’ development. The main focus of this study is to tune proportional integral derivative (PID) parameters for controlling the double link manipulator. The PID parameters are tuned through auto-tuned and Ziegler-Nichols methods within MATLAB and Simulink simulation environment. The performance of the PID controllers using both tuning methods will be compared in terms of hub angle input tracking and vibration suppression. The results show that PID tuning through autotuned generally perform better as compared to Ziegler-Nichols method to reach the desired hub angle position and suppress the vibration of the end-point of manipulator. In vibration suppression, auto-tuned provides improvement of MSE by 92 % and 99 % for both links through least square and 97 % for link 1 through recursive least square. In hub angle input tracking, auto-tuned reduces overshoot by 120 % and 96 % for both links and MSE by 66 % with faster settling time (3.72 s to 1.12 s) for link 1 through recursive least square. fahmimoksen UTM 69 p. Project Paper (Bachelor of Engineering (Mechanical)) - Universiti Teknologi Malaysia, 2021 2025-03-10T03:03:35Z 2025-03-10T03:03:35Z 2021 Bachelor thesis https://utmik.utm.my/handle/123456789/41734 vital:154069 valet-20231030-100527 ENG Closed Access UTM Complete Unpublished Completion application/pdf Universiti Teknologi Malaysia |
| spellingShingle | Mechanical engineering Lam, Zheng Loong Modelling and control of a robotic structure double link flexible manipulator |
| thesis_level | Other |
| title | Modelling and control of a robotic structure double link flexible manipulator |
| title_full | Modelling and control of a robotic structure double link flexible manipulator |
| title_fullStr | Modelling and control of a robotic structure double link flexible manipulator |
| title_full_unstemmed | Modelling and control of a robotic structure double link flexible manipulator |
| title_short | Modelling and control of a robotic structure double link flexible manipulator |
| title_sort | modelling and control of a robotic structure double link flexible manipulator |
| topic | Mechanical engineering |
| url | https://utmik.utm.my/handle/123456789/41734 |
| work_keys_str_mv | AT lamzhengloong modellingandcontrolofaroboticstructuredoublelinkflexiblemanipulator |