Akademik Veri Yönetim Sistemi
11th International Congress on Fundamental and Applied Sciences, İstanbul, Türkiye, 9 - 11 Temmuz 2024, ss.102
The Posicast method is a control method developed for a lightly damped oscillatory system.
Posicast control (PC) shapes the input signals driving systems like mechatronic systems. The
experimental applications of the PC on robotic arms are insufficient although their theoretical
solutions have existed for many years. The method is firstly designed considering impulse input
and step input. It divides the input signals into three excitations realized in delay times. This
causes an increase in the motion time of the system. In this study, the new application approach is
offered to avoid the delay time for a trapezoidal signal considered as a sequence of impulses is
reshaped with a PC input shaper (PCIS). The parameters of the PICS function are determined
concerning the dynamic system parameters - the natural frequency and damping ratio. These
parameters are experimentally achieved from the Fast-Fourier Transform of the free vibration
response. The PCIS design and applications are performed on MATLAB/Simulink. The
experimental system is a flexible manipulator with a vertical payload and driven with a servo
motor. The displacement responses are observed with the laser sensor on the free end. The PC
successfully reduces the amplitudes of displacements by the proposed approach.