Control of Inherent Vibration of Flexible Robotic Systems and Associated Dynamics
The domain of Flexible Robotic Systems (FRS) is one of the unique ensembles of robotics research that deals with various modes of vibrations, inherent in the system. The vibration, so referred, is completely built-in type and thus it is designed invariant. By nature, the vibration in FRS is self-propagating and does not follow analytical modeling and rule-base in all applications. The asynchronous data fusion, emanating out of FRS is a challenging research paradigm till date, primarily due to the inherent characteristics in quantifying the output response of the system. Real-time assessment of vibration signature in FRS is a prerequisite for establishing a reliable control system for any real-life application. The paper focuses on a new approach of modeling this inherent vibration of the flexible robotic system and brings out its effect on the associated dynamics of the FRS. Besides, the paper dwells on modeling and theoretical analysis for a novel rheological rule-base, centering on the zone-based relative dependency of the finite numbered sensor units in combating the inherent vibration in the flexible robot. Besides, a new proposition is developed for assessing the decision threshold band, signaling the activation of the FRS-gripper, using a stochastic model.
KeywordsFlexible robot Vibration Rheology Data fusion Sensor Hypothesis Algorithm
Author acknowledges the help rendered by Shri Stianshu Das, B.Tech. student of Indian Institute of Technology, Kharagpur in performing Finite Element Analysis of the FRS structures as part of his internship project. The technical assistance provided by the engineers of M/s Devendra Fabricators, Nashik, Maharashtra and M/s SVR Infotech, Pune, Maharashtra is duly acknowledged pertaining to the fabrication of the serial-chain flexible robotic systems.
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