Vibration Attenuation and Joint Navigation through Robust Control System Hardware for Multi-Degrees-of-Freedom Flexible Robots
Pratik Chothe, Shreyash Gajlekar, Aniket Bhelsaikar, Viinod Atpadkar, Nilesh Uke and Debanik Roy
Published: January 12, 2022
DOI: 10.55162/MCET.02.009
Abstract
The inherent vibration occurring due to compliance of Flexible Robotic System (FRS) provides numerous challenges to achieve accuracy at the end-effector of the FRS. This paper focuses on the study of influence of electronic control system hardware over electromechanical output of the FRS. The paper provides an insight to the relationship between drive current and motor torque with vibrations in the system. Design details of the novel indigenously-developed control electronics and, finally the controller of the prototype FRS will be reported in this paper, backed up by the glimpses of mechanical hardware. The performance and robustness of the prototype FRS will be finally discussed based on some representative analysis and results thereof. We will discuss about implementing various trajectory functions in the control program of the prototype FRS. The paper will further lead to modified linear trajectory where parabolic blends are introduced to reduce the infinite acceleration, which would eventually reduce the vibration in the links of the FRS.
Keywords: Flexible Robot; Control System; Electronics; Vibration; Rheology; Sensor; Gripper; Trajectory Functions