Modified PID Control of a Single-Link Flexible Robot

Abstract

Abstract The use of flexible links in robots has become very common in different engineering fields. The issue of position control for flexible link manipulators has gained a lot of attention. Using the vibration signal originating from the motion of the flexible-link robot is one of the important methods used in controlling the tip position of the single-link arms. Compared with the common methods for controlling the base of the flexible arm, vibration feedback can improve the use of the flexible-link robot systems. In this paper a modified PID control (MPID) is proposed which depends only on vibration feedback to improve the response of the flexible arm without the massive need for measurements. The arm moves horizontally by a DC motor on its base while a tip payload is attached to the other end. A simulation for the system with both PD controller and the proposed MPID controller is performed. An experimental validation for the control of the single-link flexible arm is shown. The robustness of the proposed controller is examined by changing the loading condition at the tip of the flexible arm. The response results for the single-link flexible arm are presented with both the PI and MPID controller used. A study of the stability of the proposed MPID is carried out. Keywords: FLEXIBLE ROBOTVIBRATION SUPPRESSIONMODIFIED PID CONTROLRATE OF DEFLECTIONPOSITION CONTROL