A fuzzy logic-based intelligent decision support system for the selection of an appropriate input-shaping technique for controlling flexible link systems
| Autor: | Çağlar Conker, Hasan Huseyin Bilgic, Gulay Akkar Kocak |
|---|---|
| Přispěvatelé: | Mühendislik ve Doğa Bilimleri Fakültesi -- Makina Mühendisliği Bölümü, Mühendislik ve Doğa Bilimleri Fakültesi -- Mekatronik Mühendisliği Bölümü, Koçak, Gülay Akkar, Conker, Çağlar |
| Rok vydání: | 2021 |
| Předmět: |
Intelligent decision-support systems
Input-shaping Computer science Flexible link Fuzzy-Logic Flexible Manipulators Decision support systems Fuzzy logic Engineering Expert systems Input shaping Electrical and Electronic Engineering Link (knot theory) Expert system Selection (genetic algorithm) Computer control systems Robotic systems Vibration control Shapers Vibration analysis Flexible link systems Flexible-link Input shapers business.industry Intelligent decision support system Robotics Computer circuits Residual vibrations Vibration Suppression Heavy machines Hardware and Architecture Mechanics of Materials Modeling and Simulation Shaping techniques Artificial intelligence Residual vibration business Mathematics Actuators Software |
| Zdroj: | International Journal of Modelling and Simulation. 42:868-881 |
| ISSN: | 1925-7082 0228-6203 |
| DOI: | 10.1080/02286203.2021.2001719 |
| Popis: | Most robotic systems consist of heavy machine elements that help reduce the vibrations generated by motion and that support good positional accuracy. Large-sized actuators are needed for such systems. Energy consumption significantly increases in oversized robotic systems. The proposed solution to which is to design robotic systems in lightweight and flexible forms. This makes possible smaller overall structure and actuator sizes. However, such systems suffer from residual vibrations. One well-known control solution to residual vibration problem could be input shaping techniques. In this study, a new Fuzzy Logic-based intelligent input shaping selection technique has been proposed. With this proposed approach, it is possible to set optimum settling time, positioning accuracy of robotic systems, and minimum residual vibrations by implementing the crucial open-loop control approach. Comprehensive experience is needed to overcome design issues on command shaping and system modeling. Based on these design criteria constraints and extensive knowledge requirements, the recommended solution is a Fuzzy Logic-based intelligent input shaping technique for accurate modeling and parameter estimation of the systems. The proposed approach is a Fuzzy Logic-based intelligent input shaper selection and input shaper setting determination algorithm. The applicability of the proposed method was verified on the Quanser Flexible Link experimental setup. |
| Databáze: | OpenAIRE |
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