Iterative Learning Control for Vibration Suppression of a Robotic Arm
نویسندگان
چکیده
This paper presents a vibration control method for the suppression of robotic arm. To understand causes in six-axis manipulator and then eliminate through an effective method, structure can be divided into two parts. First, variational mode decomposition (VMD) Hilbert–Huang transform (HHT) algorithm are integrated to analyze signal extract characteristics. Second, smooth trajectory planning is used residual vibration. Then, feedback controller iterative learning controlling stabilize system while compensating torque elastic-joint model repetitive errors caused by repeated operation In addition, improve (ILC) performance, integration VMD HHT distinguish useless information. The ILC able learn more quickly compensate error proposed VMD-HHT elastic joint (VH-ILC-EJ) along with laboratory-developed degree-of-freedom (6-DOF) arm, has been numerically experimentally validated suppression.
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ژورنال
عنوان ژورنال: Applied sciences
سال: 2023
ISSN: ['2076-3417']
DOI: https://doi.org/10.3390/app13020828