An experimental study on the mechatronics design and implementation of an intelligent active vibration control system for a CSLRFM
This study enhances Robotics Flexible Manipulator (RFM) performance by developing a dynamic Mechatronics Test Rig System (MTRS) and a controller for a Combined Single-Link Robotics Flexible Manipulator (CSLRFM). RFMs offer benefits such as lighter weight and faster response but present challenges in...
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| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | en |
| Published: |
Semarak Ilmu Publishing
2025
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| Online Access: | http://psasir.upm.edu.my/id/eprint/120631/1/120631.pdf http://psasir.upm.edu.my/id/eprint/120631/ https://semarakilmu.com.my/journals/index.php/appl_mech/article/view/13355 |
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| Summary: | This study enhances Robotics Flexible Manipulator (RFM) performance by developing a dynamic Mechatronics Test Rig System (MTRS) and a controller for a Combined Single-Link Robotics Flexible Manipulator (CSLRFM). RFMs offer benefits such as lighter weight and faster response but present challenges in motion and vibration control under disturbances. To address this, a Modified Differential Evolution Optimization Algorithm (MDEOA) tunes a PID controller to improve vibration suppression. Additionally, a New Gyroscopic Combined Actuator (NGCA) is introduced for Intelligent Active Vibration Control (IAVC). Comparing (AVC-DEO-PID) and (AVC-FL-PID) controllers with traditional PID, Fuzzy, and (Fuzzy-PID) controllers, the results show (AVC-DEO-PID) performs best, achieving up to about 93.471% faster rise and settling times, eliminating maximum overshoot, and reducing steady-state error by about 90-100%. It is 49-78% faster in peak time, with a 92% reduction in settling time, and shows 90-100% consistency across simulations and experiments. The modified algorithm demonstrates its potential in optimizing CSLRFM performance, making it a robust solution for real-time applications. |
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