Vibration suppression in robotic manipulators: Modelling, control techniques and analysis

The need for quicker and more effective robotic manipulators has prompted the creation of flexible and lightweight designs. But these designs’ natural flexibility causes vibrations, which can seriously impair stability, precision, and performance. This work focuses on flexible linkages and joints as it examines the origins and consequences of mechanical vibrations in lightweight robotic manipulators. Using the Lagrangian technique, a thorough dynamic model of a 2-degree-of-freedom (2R) planar articulated robotic manipulator is created using MATLAB and vibration analysis is performed. A number of vibration suppression strategies are applied and their efficacy in minimizing oscillations is examined, mainly PID auto-tuning, Linear Quadratic Regulator (LQR), and Sliding Mode Control (SMC). The findings demonstrate the unique characteristics of each control technique. The system modeled in this paper is simple and includes certain assumptions for ease of analysis. Later, these concepts can be extended to other complex systems.