<abstract xmlns="http://www.w3.org/1999/xhtml">

<p>In this research, a model of a robotic manipulator flexible structure and an equation of motion for controller design is planned. The structural material chosen for the robot structure was a hybrid composite. A comparison study was carried out for the aluminium 6082 alloy for the flexible manipulator arm application. Vibration behavior and control implementation was analyzed by adding joint flexibility in the system. Using a simulation algorithm, the system parameter calculation is carried out through MATLAB software for vibration amplitude, transient period, steady-state error, and settling time of flexible robotic arm system. In a systematized motion equation, flexible robotic deflections are organized via the assumed mode (AM) and Lagrange techniques (LT). The graph analysis of hybrid composite and AL6082 materials with high stiffness coefficients is plotted. These obtained values from the plot are utilized for Linear Quadratic Regulator (LQR) controller design. The LQR output facts for both aluminium structural robotic arm and composite material robotic arms are established.</p>
</abstract>

In this research, a model of a robotic manipulator flexible structure and an equation of motion for controller design is planned. The structural material chosen for the robot structure was a hybrid composite. A comparison study was carried out for the aluminium 6082 alloy for the flexible manipulator arm application. Vibration behavior and control implementation was analyzed by adding joint flexibility in the system. Using a simulation algorithm, the system parameter calculation is carried out through MATLAB software for vibration amplitude, transient period, steady-state error, and settling time of flexible robotic arm system. In a systematized motion equation, flexible robotic deflections are organized via the assumed mode (AM) and Lagrange techniques (LT). The graph analysis of hybrid composite and AL6082 materials with high stiffness coefficients is plotted. These obtained values from the plot are utilized for Linear Quadratic Regulator (LQR) controller design. The LQR output facts for both aluminium structural robotic arm and composite material robotic arms are established.

Vibration Control Using a Modern Control System for Hybrid Composite Flexible Robot Manipulator Arm

Journal of Automation, Mobile Robotics and Intelligent Systems

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

In this research, a model of a robotic manipulator flexible structure and an equation of motion for controller design is planned. The structural material...

Vibration Control Using a Modern Control System for Hybrid Composite Flexible Robot Manipulator Arm

Publié en ligne: 29 mai 2023

Pages: 36 - 45

Reçu: 03 févr. 2022

Accepté: 12 avr. 2022

DOI: https://doi.org/10.14313/jamris-2-2022-14

Mots clés
Composite material, Al6082 alloy, Simulation analysis, Vibration amplitude, LQR controller

© 2022 S. Ramalingam et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Vibration Control Using a Modern Control System for Hybrid Composite Flexible Robot Manipulator Arm

Publié en ligne: 29 mai 2023

Pages: 36 - 45

Reçu: 03 févr. 2022

Accepté: 12 avr. 2022

DOI: https://doi.org/10.14313/jamris-2-2022-14

Mots clésComposite material, Al6082 alloy, Simulation analysis, Vibration amplitude, LQR controller

© 2022 S. Ramalingam et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Mots clés
Composite material, Al6082 alloy, Simulation analysis, Vibration amplitude, LQR controller