Investigation of feasible controller for position control of flexible joint manipulator using multiple control techniques

Abstract With the advancement in technology, industries are moving from automation to robotics in the era of robotization. Different control techniques are being used in a different sector of production to control the whole machinery with special attention towards control the position and vibrations...
Ausführliche Beschreibung

Gespeichert in:

Autor*in:	Kumar, Subodh [verfasserIn] Jayaswal, Kuldeep Kothari, D. P.

Format:	E-Artikel
Sprache:	Englisch

Erschienen:	2019

Schlagwörter:	Flexible joint manipulator (FJM) PID Pole-placement Linear quadratic regulator (LQR)

Anmerkung:	© Springer Nature Switzerland AG 2019

Übergeordnetes Werk:	Enthalten in: SN applied sciences - [Cham] : Springer International Publishing, 2019, 1(2019), 12 vom: 19. Nov.
Übergeordnetes Werk:	volume:1 ; year:2019 ; number:12 ; day:19 ; month:11

Links:	Volltext

DOI / URN:	10.1007/s42452-019-1667-x

Katalog-ID:	SPR038568446

Internformat


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520			\|a Abstract With the advancement in technology, industries are moving from automation to robotics in the era of robotization. Different control techniques are being used in a different sector of production to control the whole machinery with special attention towards control the position and vibrations. In this research article, the feasible controller has been investigated for position control of flexible joint manipulator. For this, an effective version of a single linked flexible joint robotic manipulator has been used as a platform to control the position of manipulator using different control approaches. Euler’s–Lagrange equations have been used to obtain the effective version of the system and the position control has been performed by proportional-integral-derivative (PID) controller, pole –placement and linear quadratic regulator (LQR) methods. The main target of this research work is to maintain the rotational angle of the joint at an appropriate position and to remove the fluctuations at a specific robotic tool which is known as end effectors. The gains of PID controller have been delineated with the help of genetic algorithm and tuned for obtaining the most suitable gains to control the position of flexible joint manipulator and vibrations. As the settling time of the system was high so genetic algorithm has been used to optimize it. The $ Matlab^{®} $/simulation results depict that genetic algorithm tuned PID controller performed better correlated to both pole placement and LQR method of control.
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700	1		\|a Kothari, D. P. \|4 aut
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912			\|a GBV_ILN_23
912			\|a GBV_ILN_24
912			\|a GBV_ILN_31
912			\|a GBV_ILN_32
912			\|a GBV_ILN_39
912			\|a GBV_ILN_40
912			\|a GBV_ILN_60
912			\|a GBV_ILN_62
912			\|a GBV_ILN_63
912			\|a GBV_ILN_65
912			\|a GBV_ILN_69
912			\|a GBV_ILN_70
912			\|a GBV_ILN_73
912			\|a GBV_ILN_90
912			\|a GBV_ILN_95
912			\|a GBV_ILN_105
912			\|a GBV_ILN_110
912			\|a GBV_ILN_138
912			\|a GBV_ILN_151
912			\|a GBV_ILN_152
912			\|a GBV_ILN_161
912			\|a GBV_ILN_170
912			\|a GBV_ILN_171
912			\|a GBV_ILN_187
912			\|a GBV_ILN_213
912			\|a GBV_ILN_224
912			\|a GBV_ILN_230
912			\|a GBV_ILN_285
912			\|a GBV_ILN_293
912			\|a GBV_ILN_370
912			\|a GBV_ILN_602
912			\|a GBV_ILN_636
912			\|a GBV_ILN_702
912			\|a GBV_ILN_2001
912			\|a GBV_ILN_2003
912			\|a GBV_ILN_2004
912			\|a GBV_ILN_2005
912			\|a GBV_ILN_2007
912			\|a GBV_ILN_2009
912			\|a GBV_ILN_2010
912			\|a GBV_ILN_2011
912			\|a GBV_ILN_2014
912			\|a GBV_ILN_2015
912			\|a GBV_ILN_2020
912			\|a GBV_ILN_2021
912			\|a GBV_ILN_2025
912			\|a GBV_ILN_2026
912			\|a GBV_ILN_2027
912			\|a GBV_ILN_2031
912			\|a GBV_ILN_2034
912			\|a GBV_ILN_2037
912			\|a GBV_ILN_2038
912			\|a GBV_ILN_2039
912			\|a GBV_ILN_2044
912			\|a GBV_ILN_2048
912			\|a GBV_ILN_2049
912			\|a GBV_ILN_2050
912			\|a GBV_ILN_2055
912			\|a GBV_ILN_2057
912			\|a GBV_ILN_2059
912			\|a GBV_ILN_2061
912			\|a GBV_ILN_2064
912			\|a GBV_ILN_2065
912			\|a GBV_ILN_2068
912			\|a GBV_ILN_2093
912			\|a GBV_ILN_2106
912			\|a GBV_ILN_2107
912			\|a GBV_ILN_2108
912			\|a GBV_ILN_2110
912			\|a GBV_ILN_2111
912			\|a GBV_ILN_2112
912			\|a GBV_ILN_2113
912			\|a GBV_ILN_2118
912			\|a GBV_ILN_2129
912			\|a GBV_ILN_2143
912			\|a GBV_ILN_2144
912			\|a GBV_ILN_2147
912			\|a GBV_ILN_2148
912			\|a GBV_ILN_2152
912			\|a GBV_ILN_2153
912			\|a GBV_ILN_2188
912			\|a GBV_ILN_2190
912			\|a GBV_ILN_2232
912			\|a GBV_ILN_2336
912			\|a GBV_ILN_2470
912			\|a GBV_ILN_2472
912			\|a GBV_ILN_2507
912			\|a GBV_ILN_2522
912			\|a GBV_ILN_2548
912			\|a GBV_ILN_4012
912			\|a GBV_ILN_4035
912			\|a GBV_ILN_4037
912			\|a GBV_ILN_4112
912			\|a GBV_ILN_4125
912			\|a GBV_ILN_4126
912			\|a GBV_ILN_4242
912			\|a GBV_ILN_4246
912			\|a GBV_ILN_4249
912			\|a GBV_ILN_4251
912			\|a GBV_ILN_4305
912			\|a GBV_ILN_4306
912			\|a GBV_ILN_4307
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912			\|a GBV_ILN_4322
912			\|a GBV_ILN_4323
912			\|a GBV_ILN_4324
912			\|a GBV_ILN_4325
912			\|a GBV_ILN_4326
912			\|a GBV_ILN_4333
912			\|a GBV_ILN_4334
912			\|a GBV_ILN_4335
912			\|a GBV_ILN_4336
912			\|a GBV_ILN_4338
912			\|a GBV_ILN_4367
912			\|a GBV_ILN_4393
912			\|a GBV_ILN_4700
951			\|a AR
952			\|d 1 \|j 2019 \|e 12 \|b 19 \|c 11

Indexfelder

author_variant	s k sk k j kj d p k dp dpk
matchkey_str	article:25233971:2019----::netgtoofailcnrlefroiinotoofeiljitaiuaou
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publishDate	2019
allfields	10.1007/s42452-019-1667-x doi (DE-627)SPR038568446 (SPR)s42452-019-1667-x-e DE-627 ger DE-627 rakwb eng Kumar, Subodh verfasserin (orcid)0000-0001-7311-6571 aut Investigation of feasible controller for position control of flexible joint manipulator using multiple control techniques 2019 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © Springer Nature Switzerland AG 2019 Abstract With the advancement in technology, industries are moving from automation to robotics in the era of robotization. Different control techniques are being used in a different sector of production to control the whole machinery with special attention towards control the position and vibrations. In this research article, the feasible controller has been investigated for position control of flexible joint manipulator. For this, an effective version of a single linked flexible joint robotic manipulator has been used as a platform to control the position of manipulator using different control approaches. Euler’s–Lagrange equations have been used to obtain the effective version of the system and the position control has been performed by proportional-integral-derivative (PID) controller, pole –placement and linear quadratic regulator (LQR) methods. The main target of this research work is to maintain the rotational angle of the joint at an appropriate position and to remove the fluctuations at a specific robotic tool which is known as end effectors. The gains of PID controller have been delineated with the help of genetic algorithm and tuned for obtaining the most suitable gains to control the position of flexible joint manipulator and vibrations. As the settling time of the system was high so genetic algorithm has been used to optimize it. The $ Matlab^{®} $/simulation results depict that genetic algorithm tuned PID controller performed better correlated to both pole placement and LQR method of control. Flexible joint manipulator (FJM) (dpeaa)DE-He213 PID (dpeaa)DE-He213 Pole-placement (dpeaa)DE-He213 Linear quadratic regulator (LQR) (dpeaa)DE-He213 Jayaswal, Kuldeep (orcid)0000-0002-8959-1163 aut Kothari, D. P. aut Enthalten in SN applied sciences [Cham] : Springer International Publishing, 2019 1(2019), 12 vom: 19. Nov. (DE-627)103761139X (DE-600)2947292-1 2523-3971 nnns volume:1 year:2019 number:12 day:19 month:11 https://dx.doi.org/10.1007/s42452-019-1667-x lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_90 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_138 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2007 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2188 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2470 GBV_ILN_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_2548 GBV_ILN_4012 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4393 GBV_ILN_4700 AR 1 2019 12 19 11
spelling	10.1007/s42452-019-1667-x doi (DE-627)SPR038568446 (SPR)s42452-019-1667-x-e DE-627 ger DE-627 rakwb eng Kumar, Subodh verfasserin (orcid)0000-0001-7311-6571 aut Investigation of feasible controller for position control of flexible joint manipulator using multiple control techniques 2019 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © Springer Nature Switzerland AG 2019 Abstract With the advancement in technology, industries are moving from automation to robotics in the era of robotization. Different control techniques are being used in a different sector of production to control the whole machinery with special attention towards control the position and vibrations. In this research article, the feasible controller has been investigated for position control of flexible joint manipulator. For this, an effective version of a single linked flexible joint robotic manipulator has been used as a platform to control the position of manipulator using different control approaches. Euler’s–Lagrange equations have been used to obtain the effective version of the system and the position control has been performed by proportional-integral-derivative (PID) controller, pole –placement and linear quadratic regulator (LQR) methods. The main target of this research work is to maintain the rotational angle of the joint at an appropriate position and to remove the fluctuations at a specific robotic tool which is known as end effectors. The gains of PID controller have been delineated with the help of genetic algorithm and tuned for obtaining the most suitable gains to control the position of flexible joint manipulator and vibrations. As the settling time of the system was high so genetic algorithm has been used to optimize it. The $ Matlab^{®} $/simulation results depict that genetic algorithm tuned PID controller performed better correlated to both pole placement and LQR method of control. Flexible joint manipulator (FJM) (dpeaa)DE-He213 PID (dpeaa)DE-He213 Pole-placement (dpeaa)DE-He213 Linear quadratic regulator (LQR) (dpeaa)DE-He213 Jayaswal, Kuldeep (orcid)0000-0002-8959-1163 aut Kothari, D. P. aut Enthalten in SN applied sciences [Cham] : Springer International Publishing, 2019 1(2019), 12 vom: 19. Nov. (DE-627)103761139X (DE-600)2947292-1 2523-3971 nnns volume:1 year:2019 number:12 day:19 month:11 https://dx.doi.org/10.1007/s42452-019-1667-x lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_90 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_138 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2007 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2188 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2470 GBV_ILN_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_2548 GBV_ILN_4012 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4393 GBV_ILN_4700 AR 1 2019 12 19 11
allfields_unstemmed	10.1007/s42452-019-1667-x doi (DE-627)SPR038568446 (SPR)s42452-019-1667-x-e DE-627 ger DE-627 rakwb eng Kumar, Subodh verfasserin (orcid)0000-0001-7311-6571 aut Investigation of feasible controller for position control of flexible joint manipulator using multiple control techniques 2019 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © Springer Nature Switzerland AG 2019 Abstract With the advancement in technology, industries are moving from automation to robotics in the era of robotization. Different control techniques are being used in a different sector of production to control the whole machinery with special attention towards control the position and vibrations. In this research article, the feasible controller has been investigated for position control of flexible joint manipulator. For this, an effective version of a single linked flexible joint robotic manipulator has been used as a platform to control the position of manipulator using different control approaches. Euler’s–Lagrange equations have been used to obtain the effective version of the system and the position control has been performed by proportional-integral-derivative (PID) controller, pole –placement and linear quadratic regulator (LQR) methods. The main target of this research work is to maintain the rotational angle of the joint at an appropriate position and to remove the fluctuations at a specific robotic tool which is known as end effectors. The gains of PID controller have been delineated with the help of genetic algorithm and tuned for obtaining the most suitable gains to control the position of flexible joint manipulator and vibrations. As the settling time of the system was high so genetic algorithm has been used to optimize it. The $ Matlab^{®} $/simulation results depict that genetic algorithm tuned PID controller performed better correlated to both pole placement and LQR method of control. Flexible joint manipulator (FJM) (dpeaa)DE-He213 PID (dpeaa)DE-He213 Pole-placement (dpeaa)DE-He213 Linear quadratic regulator (LQR) (dpeaa)DE-He213 Jayaswal, Kuldeep (orcid)0000-0002-8959-1163 aut Kothari, D. P. aut Enthalten in SN applied sciences [Cham] : Springer International Publishing, 2019 1(2019), 12 vom: 19. Nov. (DE-627)103761139X (DE-600)2947292-1 2523-3971 nnns volume:1 year:2019 number:12 day:19 month:11 https://dx.doi.org/10.1007/s42452-019-1667-x lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_90 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_138 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2007 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2188 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2470 GBV_ILN_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_2548 GBV_ILN_4012 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4393 GBV_ILN_4700 AR 1 2019 12 19 11
allfieldsGer	10.1007/s42452-019-1667-x doi (DE-627)SPR038568446 (SPR)s42452-019-1667-x-e DE-627 ger DE-627 rakwb eng Kumar, Subodh verfasserin (orcid)0000-0001-7311-6571 aut Investigation of feasible controller for position control of flexible joint manipulator using multiple control techniques 2019 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © Springer Nature Switzerland AG 2019 Abstract With the advancement in technology, industries are moving from automation to robotics in the era of robotization. Different control techniques are being used in a different sector of production to control the whole machinery with special attention towards control the position and vibrations. In this research article, the feasible controller has been investigated for position control of flexible joint manipulator. For this, an effective version of a single linked flexible joint robotic manipulator has been used as a platform to control the position of manipulator using different control approaches. Euler’s–Lagrange equations have been used to obtain the effective version of the system and the position control has been performed by proportional-integral-derivative (PID) controller, pole –placement and linear quadratic regulator (LQR) methods. The main target of this research work is to maintain the rotational angle of the joint at an appropriate position and to remove the fluctuations at a specific robotic tool which is known as end effectors. The gains of PID controller have been delineated with the help of genetic algorithm and tuned for obtaining the most suitable gains to control the position of flexible joint manipulator and vibrations. As the settling time of the system was high so genetic algorithm has been used to optimize it. The $ Matlab^{®} $/simulation results depict that genetic algorithm tuned PID controller performed better correlated to both pole placement and LQR method of control. Flexible joint manipulator (FJM) (dpeaa)DE-He213 PID (dpeaa)DE-He213 Pole-placement (dpeaa)DE-He213 Linear quadratic regulator (LQR) (dpeaa)DE-He213 Jayaswal, Kuldeep (orcid)0000-0002-8959-1163 aut Kothari, D. P. aut Enthalten in SN applied sciences [Cham] : Springer International Publishing, 2019 1(2019), 12 vom: 19. Nov. (DE-627)103761139X (DE-600)2947292-1 2523-3971 nnns volume:1 year:2019 number:12 day:19 month:11 https://dx.doi.org/10.1007/s42452-019-1667-x lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_90 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_138 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2007 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2188 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2470 GBV_ILN_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_2548 GBV_ILN_4012 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4393 GBV_ILN_4700 AR 1 2019 12 19 11
allfieldsSound	10.1007/s42452-019-1667-x doi (DE-627)SPR038568446 (SPR)s42452-019-1667-x-e DE-627 ger DE-627 rakwb eng Kumar, Subodh verfasserin (orcid)0000-0001-7311-6571 aut Investigation of feasible controller for position control of flexible joint manipulator using multiple control techniques 2019 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © Springer Nature Switzerland AG 2019 Abstract With the advancement in technology, industries are moving from automation to robotics in the era of robotization. Different control techniques are being used in a different sector of production to control the whole machinery with special attention towards control the position and vibrations. In this research article, the feasible controller has been investigated for position control of flexible joint manipulator. For this, an effective version of a single linked flexible joint robotic manipulator has been used as a platform to control the position of manipulator using different control approaches. Euler’s–Lagrange equations have been used to obtain the effective version of the system and the position control has been performed by proportional-integral-derivative (PID) controller, pole –placement and linear quadratic regulator (LQR) methods. The main target of this research work is to maintain the rotational angle of the joint at an appropriate position and to remove the fluctuations at a specific robotic tool which is known as end effectors. The gains of PID controller have been delineated with the help of genetic algorithm and tuned for obtaining the most suitable gains to control the position of flexible joint manipulator and vibrations. As the settling time of the system was high so genetic algorithm has been used to optimize it. The $ Matlab^{®} $/simulation results depict that genetic algorithm tuned PID controller performed better correlated to both pole placement and LQR method of control. Flexible joint manipulator (FJM) (dpeaa)DE-He213 PID (dpeaa)DE-He213 Pole-placement (dpeaa)DE-He213 Linear quadratic regulator (LQR) (dpeaa)DE-He213 Jayaswal, Kuldeep (orcid)0000-0002-8959-1163 aut Kothari, D. P. aut Enthalten in SN applied sciences [Cham] : Springer International Publishing, 2019 1(2019), 12 vom: 19. Nov. (DE-627)103761139X (DE-600)2947292-1 2523-3971 nnns volume:1 year:2019 number:12 day:19 month:11 https://dx.doi.org/10.1007/s42452-019-1667-x lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_90 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_138 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2007 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2188 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2470 GBV_ILN_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_2548 GBV_ILN_4012 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4393 GBV_ILN_4700 AR 1 2019 12 19 11
language	English
source	Enthalten in SN applied sciences 1(2019), 12 vom: 19. Nov. volume:1 year:2019 number:12 day:19 month:11
sourceStr	Enthalten in SN applied sciences 1(2019), 12 vom: 19. Nov. volume:1 year:2019 number:12 day:19 month:11
format_phy_str_mv	Article
institution	findex.gbv.de
topic_facet	Flexible joint manipulator (FJM) PID Pole-placement Linear quadratic regulator (LQR)
isfreeaccess_bool	false
container_title	SN applied sciences
authorswithroles_txt_mv	Kumar, Subodh @@aut@@ Jayaswal, Kuldeep @@aut@@ Kothari, D. P. @@aut@@
publishDateDaySort_date	2019-11-19T00:00:00Z
hierarchy_top_id	103761139X
id	SPR038568446
language_de	englisch
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author	Kumar, Subodh
spellingShingle	Kumar, Subodh misc Flexible joint manipulator (FJM) misc PID misc Pole-placement misc Linear quadratic regulator (LQR) Investigation of feasible controller for position control of flexible joint manipulator using multiple control techniques
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topic_title	Investigation of feasible controller for position control of flexible joint manipulator using multiple control techniques Flexible joint manipulator (FJM) (dpeaa)DE-He213 PID (dpeaa)DE-He213 Pole-placement (dpeaa)DE-He213 Linear quadratic regulator (LQR) (dpeaa)DE-He213
topic	misc Flexible joint manipulator (FJM) misc PID misc Pole-placement misc Linear quadratic regulator (LQR)
topic_unstemmed	misc Flexible joint manipulator (FJM) misc PID misc Pole-placement misc Linear quadratic regulator (LQR)
topic_browse	misc Flexible joint manipulator (FJM) misc PID misc Pole-placement misc Linear quadratic regulator (LQR)
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title	Investigation of feasible controller for position control of flexible joint manipulator using multiple control techniques
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title_full	Investigation of feasible controller for position control of flexible joint manipulator using multiple control techniques
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author_browse	Kumar, Subodh Jayaswal, Kuldeep Kothari, D. P.
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title_sort	investigation of feasible controller for position control of flexible joint manipulator using multiple control techniques
title_auth	Investigation of feasible controller for position control of flexible joint manipulator using multiple control techniques
abstract	Abstract With the advancement in technology, industries are moving from automation to robotics in the era of robotization. Different control techniques are being used in a different sector of production to control the whole machinery with special attention towards control the position and vibrations. In this research article, the feasible controller has been investigated for position control of flexible joint manipulator. For this, an effective version of a single linked flexible joint robotic manipulator has been used as a platform to control the position of manipulator using different control approaches. Euler’s–Lagrange equations have been used to obtain the effective version of the system and the position control has been performed by proportional-integral-derivative (PID) controller, pole –placement and linear quadratic regulator (LQR) methods. The main target of this research work is to maintain the rotational angle of the joint at an appropriate position and to remove the fluctuations at a specific robotic tool which is known as end effectors. The gains of PID controller have been delineated with the help of genetic algorithm and tuned for obtaining the most suitable gains to control the position of flexible joint manipulator and vibrations. As the settling time of the system was high so genetic algorithm has been used to optimize it. The $ Matlab^{®} $/simulation results depict that genetic algorithm tuned PID controller performed better correlated to both pole placement and LQR method of control. © Springer Nature Switzerland AG 2019
abstractGer	Abstract With the advancement in technology, industries are moving from automation to robotics in the era of robotization. Different control techniques are being used in a different sector of production to control the whole machinery with special attention towards control the position and vibrations. In this research article, the feasible controller has been investigated for position control of flexible joint manipulator. For this, an effective version of a single linked flexible joint robotic manipulator has been used as a platform to control the position of manipulator using different control approaches. Euler’s–Lagrange equations have been used to obtain the effective version of the system and the position control has been performed by proportional-integral-derivative (PID) controller, pole –placement and linear quadratic regulator (LQR) methods. The main target of this research work is to maintain the rotational angle of the joint at an appropriate position and to remove the fluctuations at a specific robotic tool which is known as end effectors. The gains of PID controller have been delineated with the help of genetic algorithm and tuned for obtaining the most suitable gains to control the position of flexible joint manipulator and vibrations. As the settling time of the system was high so genetic algorithm has been used to optimize it. The $ Matlab^{®} $/simulation results depict that genetic algorithm tuned PID controller performed better correlated to both pole placement and LQR method of control. © Springer Nature Switzerland AG 2019
abstract_unstemmed	Abstract With the advancement in technology, industries are moving from automation to robotics in the era of robotization. Different control techniques are being used in a different sector of production to control the whole machinery with special attention towards control the position and vibrations. In this research article, the feasible controller has been investigated for position control of flexible joint manipulator. For this, an effective version of a single linked flexible joint robotic manipulator has been used as a platform to control the position of manipulator using different control approaches. Euler’s–Lagrange equations have been used to obtain the effective version of the system and the position control has been performed by proportional-integral-derivative (PID) controller, pole –placement and linear quadratic regulator (LQR) methods. The main target of this research work is to maintain the rotational angle of the joint at an appropriate position and to remove the fluctuations at a specific robotic tool which is known as end effectors. The gains of PID controller have been delineated with the help of genetic algorithm and tuned for obtaining the most suitable gains to control the position of flexible joint manipulator and vibrations. As the settling time of the system was high so genetic algorithm has been used to optimize it. The $ Matlab^{®} $/simulation results depict that genetic algorithm tuned PID controller performed better correlated to both pole placement and LQR method of control. © Springer Nature Switzerland AG 2019
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title_short	Investigation of feasible controller for position control of flexible joint manipulator using multiple control techniques
url	https://dx.doi.org/10.1007/s42452-019-1667-x
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up_date	2024-07-03T18:53:57.854Z
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fullrecord_marcxml	<?xml version="1.0" encoding="UTF-8"?><collection xmlns="http://www.loc.gov/MARC21/slim"><record><leader>01000caa a22002652 4500</leader><controlfield tag="001">SPR038568446</controlfield><controlfield tag="003">DE-627</controlfield><controlfield tag="005">20230328214936.0</controlfield><controlfield tag="007">cr uuu---uuuuu</controlfield><controlfield tag="008">201007s2019 xx \|\|\|\|\|o 00\| \|\|eng c</controlfield><datafield tag="024" ind1="7" ind2=" "><subfield code="a">10.1007/s42452-019-1667-x</subfield><subfield code="2">doi</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(DE-627)SPR038568446</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(SPR)s42452-019-1667-x-e</subfield></datafield><datafield tag="040" ind1=" " ind2=" "><subfield code="a">DE-627</subfield><subfield code="b">ger</subfield><subfield code="c">DE-627</subfield><subfield code="e">rakwb</subfield></datafield><datafield tag="041" ind1=" " ind2=" "><subfield code="a">eng</subfield></datafield><datafield tag="100" ind1="1" ind2=" "><subfield code="a">Kumar, Subodh</subfield><subfield code="e">verfasserin</subfield><subfield code="0">(orcid)0000-0001-7311-6571</subfield><subfield code="4">aut</subfield></datafield><datafield tag="245" ind1="1" ind2="0"><subfield code="a">Investigation of feasible controller for position control of flexible joint manipulator using multiple control techniques</subfield></datafield><datafield tag="264" ind1=" " ind2="1"><subfield code="c">2019</subfield></datafield><datafield tag="336" ind1=" " ind2=" "><subfield code="a">Text</subfield><subfield code="b">txt</subfield><subfield code="2">rdacontent</subfield></datafield><datafield tag="337" ind1=" " ind2=" "><subfield code="a">Computermedien</subfield><subfield code="b">c</subfield><subfield code="2">rdamedia</subfield></datafield><datafield tag="338" ind1=" " ind2=" "><subfield code="a">Online-Ressource</subfield><subfield code="b">cr</subfield><subfield code="2">rdacarrier</subfield></datafield><datafield tag="500" ind1=" " ind2=" "><subfield code="a">© Springer Nature Switzerland AG 2019</subfield></datafield><datafield tag="520" ind1=" " ind2=" "><subfield code="a">Abstract With the advancement in technology, industries are moving from automation to robotics in the era of robotization. Different control techniques are being used in a different sector of production to control the whole machinery with special attention towards control the position and vibrations. In this research article, the feasible controller has been investigated for position control of flexible joint manipulator. For this, an effective version of a single linked flexible joint robotic manipulator has been used as a platform to control the position of manipulator using different control approaches. Euler’s–Lagrange equations have been used to obtain the effective version of the system and the position control has been performed by proportional-integral-derivative (PID) controller, pole –placement and linear quadratic regulator (LQR) methods. The main target of this research work is to maintain the rotational angle of the joint at an appropriate position and to remove the fluctuations at a specific robotic tool which is known as end effectors. The gains of PID controller have been delineated with the help of genetic algorithm and tuned for obtaining the most suitable gains to control the position of flexible joint manipulator and vibrations. As the settling time of the system was high so genetic algorithm has been used to optimize it. The $ Matlab^{®} $/simulation results depict that genetic algorithm tuned PID controller performed better correlated to both pole placement and LQR method of control.</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Flexible joint manipulator (FJM)</subfield><subfield code="7">(dpeaa)DE-He213</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">PID</subfield><subfield code="7">(dpeaa)DE-He213</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Pole-placement</subfield><subfield code="7">(dpeaa)DE-He213</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Linear quadratic regulator (LQR)</subfield><subfield code="7">(dpeaa)DE-He213</subfield></datafield><datafield tag="700" ind1="1" ind2=" "><subfield code="a">Jayaswal, Kuldeep</subfield><subfield code="0">(orcid)0000-0002-8959-1163</subfield><subfield code="4">aut</subfield></datafield><datafield tag="700" ind1="1" ind2=" "><subfield code="a">Kothari, D. 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Investigation of feasible controller for position control of flexible joint manipulator using multiple control techniques

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