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

Abstract

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.