A Virtual Environment for Studying Flexible Robot Manipulators

Authors

  • Abul K. M. Azad Northern Illinois University
  • Osman Tokhi The University of Sheffield (UK)
  • Hasan Shaheed University of London (UK)

DOI:

https://doi.org/10.3991/ijoe.v5i4.918

Keywords:

Intelligent systems, flexible robot manipulator, system modeling, virutal environment, and simulation

Abstract


The paper presents a virtual environment for simulation and modeling a single-link flexible robotic manipulator. Simulation algorithm is based on the finite difference method where the systems governing dynamic equation is discretized and implemented. Intelligent modeling techniques are developed using neural network and genetic algorithm based techniques. All these have been developed and realized within a virtual environment using the Matlab, Simulink, and associated toolboxes. An interactive user friendly graphical user interface has also been presented. This environment has proven to be a valuable educational tool for understanding the behavior of flexible manipulator systems and can also be used as a computer aided teaching facility and a testbed for controller designs.

Author Biography

Abul K. M. Azad, Northern Illinois University

ABUL K M AZAD is an Associate Professor with the Technology Department of Northern Illinois University. He obtained a Ph.D. (control engineering) from the University of Sheffield (UK) in 1994. He has worked at various academic and industrial establishments since graduation in 1987. His research interests include mechatronic systems and structural control, remote laboratory, adaptive/intelligent control, mobile robotics, and educational research. In these areas, Dr. Azad has over 94 referred journal and conference papers, one edited book, and a book chapter. So far, he has attracted around $1.5M of research and development grants from national and international funding agencies. He is an editorial board member for a number of technical journals and international program committee member for conferences. Dr. Azad is actively involved with other professional activities such as National Science Foundation proposal reviewer, board member of Information Systems Division (American Society for Engineering Education), European Commission Expert for 5th and 6th research framework, member for ISO standardization committees for robots in personal care and service robots, and an program evaluator for the Accreditation Board of Engineering and Technology. He is a senior member of IEEE and ISA and a member of ASEE and IET.

Downloads

Published

2009-11-16

How to Cite

Azad, A. K. M., Tokhi, O., & Shaheed, H. (2009). A Virtual Environment for Studying Flexible Robot Manipulators. International Journal of Online and Biomedical Engineering (iJOE), 5(4), pp. 4–12. https://doi.org/10.3991/ijoe.v5i4.918

Issue

Vol. 5 No. 4 (2009)

Section

Papers

License

The submitting author warrants that the submission is original and that she/he is the author of the submission together with the named co-authors; to the extend the submission incorporates text passages, figures, data or other material from the work of others, the submitting author has obtained any necessary permission.
Articles in this journal are published under the Creative Commons Attribution Licence (CC-BY What does this mean?). This is to get more legal certainty about what readers can do with published articles, and thus a wider dissemination and archiving, which in turn makes publishing with this journal more valuable for you, the authors.
By submitting an article the author grants to this journal the non-exclusive right to publish it. The author retains the copyright and the publishing rights for his article without any restrictions.