Hybrid Vibration Control Algorithm of a Flexible Manipulator System

Flexible manipulator systems in specific applications such as space exploration, nuclear waste treatment, medical applications, etc., often have characteristics superior to conventional rigid systems. However, their elasticity and complex dynamics lead difficulties encountered control processes. Research on improving the structure of model plays a very important role reducing above limitations achieving great benefits for flexible system. In this study, general method modelling robotic is introduced. Furthermore, two models manipulators are proposed. The first uses proportional–integral–derivative (PID) controllers, where one used position control, other applied vibration reduction. second an enhanced development with addition fuzzy logic controller optimise oscillation suppression. Selected experimental results presented compared evaluate performance proposed mechanisms.