This paper presents an investigation into the dynamic modelling and characterisation of a two-link flexible robot manipulator. A planar two-link flexible manipulator incorporating structural damping, hub inertia and payload that moves in the horizontal plane is considered. A dynamic model of the system is developed using a combined Euler-Lagrange and assumed mode method. Simulation is performed to assess the dynamic model and system responses at the hub and end-point of both links are presented and analysed in time and frequency domains. Moreover, effects of payload on the dynamic characteristics of the flexible manipulator are studied and discussed.
This paper presents the design and development of a robust proportional derivative (PD) controller based on linear matrix inequality (LMI) for the control of a hub angular position and end-point deflection of a planar two-link flexible manipulator. The dynamics of the manipulator is uncertain and time varying due to the variation of payloads that result in large variations in the excitation of flexible modes. Practical design steps are presented in which the LMI-based conditions are formulated to obtain a robust PD gains to control the flexible manipulator. The robust controller has an advantage as compared to the Ziegler-Nichols tuned PD controller as the identified PD gains can be used to control the system under various loading conditions. The performances of the proposed controller are evaluated in terms of input tracking capability of the hub angular position response and level of deflection of both links of the flexible manipulator. Experimental results show that despite using the same sets of PD gains, LMI-PD control provides better robustness and system performance.
This paper provides development of a virtual laboratorium for the subject of digital engineering. The virtual digital engineering laboratory based on mobile virtual reality is a finding that can be used for replacing a real laboratory. Using a virtual laboratory can be conducted a learning and teaching process at anytime and anywhere as long as it has an android device. This study applies a virtual laboratory to mobile virtual reality for a virtual digital engineering laboratory. The results of this study were fuctional application software to learn how to apply a virtual digital engineering laboratory through mobile virtual reality technology. A lot of components and circuits of logic gate can be simulated in this virtual laboratorium. This study presents a simple Android-based virtual tools for the visualization and investigation in real time of circuits of logic gates without signal disturbances. The package can be used as an educational tool in various lectures or homework to aid teaching digital engineering theory or practically.
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