Hybrid Vibration Control Algorithm of a Flexible Manipulator System

Flexible manipulator systems in specific applications such as space exploration, nuclear waste treatment, medical applications, etc., often have characteristics superior to conventional rigid manipulator systems. However, their elasticity and complex dynamics lead to difficulties encountered in cont...

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Bibliographic Details
Published inRobotics (Basel) Vol. 12; no. 3; p. 73
Main Authors Nguyen, Van Binh, Bui, Xuan Cuong
Format Journal Article
LanguageEnglish
Published Basel MDPI AG 01.06.2023
Subjects
Algorithms
Control algorithms
Control systems
Control theory
Controllers
Energy consumption
Flexibility
flexible manipulator system
Flexible manipulators
Fuzzy control
Fuzzy logic
fuzzy logic controller
Manipulators
Medical wastes
Methods
Partial differential equations
Proportional integral derivative
Radioactive wastes
Robot arms
robotic modelling
Simulation
Space exploration
Velocity
Vibration
Vibration control
vibration damping control
Waste treatment
Vietnam
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Summary:Flexible manipulator systems in specific applications such as space exploration, nuclear waste treatment, medical applications, etc., often have characteristics superior to conventional rigid manipulator systems. However, their elasticity and complex dynamics lead to difficulties encountered in control processes. Research on improving the structure of the control model plays a very important role in reducing the above limitations and achieving great benefits for the flexible manipulator system. In this study, a general method for modelling a flexible robotic manipulator is introduced. Furthermore, two control models for flexible manipulators are proposed. The first model uses two proportional–integral–derivative (PID) controllers, where the first one is used for position control, and the other is applied for vibration reduction. The second model is an enhanced development of the first with the addition of a fuzzy logic controller to optimise oscillation suppression. Selected experimental results are presented and compared to evaluate the performance of the proposed control mechanisms.
ISSN:2218-6581
2218-6581
DOI:10.3390/robotics12030073