Hybrid Vibration Control Algorithm of a Flexible Manipulator System

Nguyen, Van Binh; Bui, Xuan Cuong

doi:10.3390/robotics12030073

Cited by 4 publications

(3 citation statements)

References 37 publications

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“…The strain in the y-axis direction, which is the out-of-plane direction, is parameter of consideration in this research. The calculation method of strain ε from the measured force is as shown in (9).…”

Section: Virtual Manipulator Modelmentioning

confidence: 99%

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Vibration and Position Control of a Two-Link Flexible Manipulator Using Reinforcement Learning

et al. 2023

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In recent years, industries have increasingly emphasized the need for high-speed, energy-efficient, and cost-effective solutions. As a result, there has been growing interest in developing flexible link manipulator robots to meet these requirements. However, reducing the weight of the manipulator leads to increased flexibility which, in turn, causes vibrations. This research paper introduces a novel approach for controlling the vibration and motion of a two-link flexible manipulator using reinforcement learning. The proposed system utilizes trust region policy optimization to train the manipulator’s end effector to reach a desired target position, while minimizing vibration and strain at the root of the link. To achieve the research objectives, a 3D model of the flexible-link manipulator is designed, and an optimal reward function is identified to guide the learning process. The results demonstrate that the proposed approach successfully suppresses vibration and strain when moving the end effector to the target position. Furthermore, the trained model is applied to a physical flexible manipulator for real-world control verification. However, it is observed that the performance of the trained model does not meet expectations, due to simulation-to-real challenges. These challenges may include unanticipated differences in dynamics, calibration issues, actuator limitations, or other factors that affect the performance and behavior of the system in the real world. Therefore, further investigations and improvements are recommended to bridge this gap and enhance the applicability of the proposed approach.

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Section: Virtual Manipulator Modelmentioning

confidence: 99%

“…The authors of [7] developed a model-based controller for a flexible manipulator. PID and other hybrid strategies have been applied in [7][8][9]. Other strategies, like fuzzy logic, shape memory alloy (SMA), have also been utilized [7,10,11].…”

Section: Introductionmentioning

confidence: 99%

Vibration and Position Control of a Two-Link Flexible Manipulator Using Reinforcement Learning

et al. 2023

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“…J. Z. Sąsiadek et al introduced a novel direct adaptive composite controller based on the normalized fuzzy logic system [ 17 ]. Wei He proposed a full-state feedback neural network controller [ 18 ].…”

Section: Introductionmentioning

confidence: 99%

A High-Certainty Visual Servo Control Method for a Space Manipulator with Flexible Joints

Yang

Zhao³

et al. 2023

Sensors

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This paper introduces a novel high-certainty visual servo algorithm for a space manipulator with flexible joints, which consists of a kinematic motion planner and a Lyapunov dynamics model reference adaptive controller. To enhance kinematic certainty, a three-stage motion planner is proposed in Cartesian space to control the intermediate states and minimize the relative position error between the manipulator and the target. Moreover, a planner in joint space based on the fast gradient descent algorithm is proposed to optimize the joint’s deviation from the centrality. To improve dynamic certainty, an adaptive control algorithm based on Lyapunov stability analysis is used to enhance the system’s anti-disturbance capability. As to the basic PBVS (position-based visual servo methods) algorithm, the proposed method aims to increase the certainty of the intermediate states to avoid collision. A physical experiment is designed to validate the effectiveness of the algorithm. The experiment shows that the visual servo motion state in Cartesian space is basically consistent with the planned three-stage motion state, the average joint deviation index from the centrality is less than 40%, and the motion trajectory consistency exceeds 90% under different inertial load disturbances. Overall, this method reduces the risk of collision by enhancing the certainty of the basic PBVS algorithm.

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Three link flexible arm robust regulation via proportional retarded control scheme

Ordaz,

Rodríguez-Guerrero,

Ordaz-Oliver

et al. 2024

Applied Mathematical Modelling

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Hybrid Vibration Control Algorithm of a Flexible Manipulator System

Cited by 4 publications

References 37 publications

Vibration and Position Control of a Two-Link Flexible Manipulator Using Reinforcement Learning

Vibration and Position Control of a Two-Link Flexible Manipulator Using Reinforcement Learning

A High-Certainty Visual Servo Control Method for a Space Manipulator with Flexible Joints

Three link flexible arm robust regulation via proportional retarded control scheme

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