TABLE OF CONTENTS
CHAPTER TITLE
PAGE
PROJECT TITLE i
DECLARATION iii
DEDICATION v
ACKNOWLEDGEMENT vi
ABSTRACT vii
ABSTRAK viii
TABLE OF CONTENTS ix
LIST OF FIGURE xii
LIST OF APPENDICES xv
LIST OF SYMBOLS xiv
I INTRODUCTION
1.1 Project Introduction 1
1.2 Background of the Problems 2
1.3 Statement of the Problems 3
1.4 Objective of the Study 5
1.5 Scope of Study 6
1.5.1 Significance of Study 6
1.6 Methodology 7
II LITERATURE REVIEW
2.1 Introduction 9
2.2 Review of Input Shaping Method 9
2.3 Summary 15
III DEVELOPMENT OF INPUT SHAPING CONTROL
TECHNIQUE USING INVERSE DYNAMICS
3.1 Inverse Dynamics 18
3.2 Desired Motion 19
IV MODELLING OF A FLEXIBLE MANIPULATOR
SYSTEM
4.1 The Flexible Manipulator System 23
4.1.1 Modeling of the Flexible Manipulator 25
4.2 Derivation of the Equation of Motion 26
V SIMULATION RESULT AND ANALYSIS
5.1 Matlab 30
5.2 Simulink 31
5.3 Simulation 33
5.4 Simulation Results 35
5.5 Discussion 40
VI CONCLUSION AND FUTURE WORK
6.1 Conclusion 41
6.2 Future Work 42
REFERENCES 44
APPENDICES 47
LIST OF FIGURES
NO TITLE
PAGE
1.1 Convolution of an impulse sequence with a system input
5 3.1
System models used in the examples 18
3.2 Characteristics of the purposed output function
22 4.1
Description of the manipulator system 24
4.2 Overview of the flexible manipulator
24 4.3
Input variable for the system 27
5.1 Input shaping parameters
33 5.2
Block parameters for expression of the motion 34
5.3 Overview for the system developed
34 5.4
Parameters and matrix equation for the systems 35
5.5 Overview of the system developed
36
5.6 Block parameters gain Matrix A
37 5.7
Block parameters gain Matrix B 37
5.8 Block parameters gain Matrix K for stabilize the system
38 5.9
Input shaping waveform 38
5.10 Output waveform for end-point displacement
39 5.11
Output waveform for hub angle 39
LIST OF APPENDICES
NO TITLE
PAGE A
One link flexible manipulator 47
B Matrix equation for the system
48
LIST OF SYMBOLS
τ - Torque
t
- Time
s
- Second
E
- Young Modulus
I
- Area moment of inertia
A
- Cross sectional area ρ
- Mass density per unit volume �
ℎ
- Hub inertia �
- Mass matrix �
- Stiffness matrix
N
- Number of element
L
- Length of element
F
- Vector of external force
Q
- Nodal displacement vector Θ
- Angular displacement
- Velocity
- Acceleration �
- Angular Velocity �
- Angular Acceleration
CHAPTER 1
INTRODUCTION
1.1 Introduction
