Anti-resonance Vibration Suppression Control in Full-closed Control System

Yoshiura, Yasufumi; Asai, Yusuke; Kaku, Yasuhiko

doi:10.1541/ieejjia.9.311

Cited by 6 publications

(1 citation statement)

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“…Active control systems need to first analyse the dynamics and vibration characteristics of the object and then implement vibration control through sensors and control algorithms that can cope with a wide range of excitation vibration situations. However, given the current performance requirements of robotic arms, active control methods still face many shortcomings, such as low accuracy and low efficiency [5]. In hopes of further improving the vibration suppression effect, the study addresses the bearing vibration suppression problem of a Six-DOFmodular robotic arm and proposes a control method that combines an artificial fish swarming algorithm (AFSA) (i.e., a machine vision algorithm) with an optimized PID.…”

Section: Introductionmentioning

confidence: 99%

Six-DOF modular robotic arm bearing chatter suppression algorithm

Zheng,

Jin

2023

J. vibroeng.

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Robotic arms are frequently utilized in contemporary industrial production since they offer great qualities like high precision and low mass. How to minimize robotic arm tremors in order to maximize their control effect has emerged as one of the most critical issues to be resolved with the continued development of industrial intelligence. The study uses a combination of PID control and an artificial fish swarm technique to optimize the parameters and confirm the simulation control effect based on the kinematic analysis of a six-degree-of-freedom (Six-DOF) modular robotic arm. The findings demonstrated that the suggested fusion approach converges to zero in 80 iterations and has a recall of 0.893 and 0.785 at an accuracy of 0.8 and 0.9, respectively. The robotic arm control system’s average control effect is 42.96 %, which is a respectable control performance. In the second and third studies, the fusion approach stabilized actuator end tremor suppression after 0.01 s and 0.0001 s, respectively. It shows that the technique can effectively suppress robotic arm bearing tremor and has high flexibility for robotic arm tremor suppression, which offers trustworthy technological support for improving the motion control system of industrial robots.

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Section: Introductionmentioning

confidence: 99%