Investigation of Vibration Control Performance with Modified Motion Planning Based on Basic Functions for Composite Robot Manipulators

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dc.authoridUYAR, MEHMET/0000-0003-3511-7682
dc.contributor.authorUyar, M.
dc.date.accessioned2024-10-04T18:51:18Z
dc.date.available2024-10-04T18:51:18Z
dc.date.issued2024
dc.departmentBayburt Üniversitesien_US
dc.description.abstractWhen flexible manipulators complete their movements to the desired position, vibrations occur at the endpoint. Reducing vibrations is an important advantage for eliminating positioning errors and monitoring position accuracy. However, the increase in vibration amplitudes leads to the inability to complete the planned tasks in the applications and results in loss of productivity. Therefore, the reduction of end-effector vibrations is an important research area. In this study, a motion-based control (MBC) method with designed motion profiles is introduced to reduce the endpoint vibrations of epoxy-glass-reinforced composite manipulators. Three different motion profiles, namely Modification-1, Modification-2, and Modification-3, are designed according to time and maximum velocity values depending on the system's frequencies. For the design of Modification-1, variable deceleration and acceleration times are considered, while for Modification-2 and Modification-3, both the maximum angular velocity and the deceleration and acceleration times are utilized. For two different angular positions and motion times, all motion profiles are applied to two composite manipulators with different frequencies, and the results are experimentally and numerically obtained to examine the vibration performance of MBC. Simulation results confirmed with experiments are achieved using mathematical models in ANSYS. To evaluate the effectiveness of MBC, the change in RMS values of endpoint vibration responses and the reduction rates are presented comparatively for all motion profiles. The results show significant advantages for the MBC method, reducing vibrations by approximately 99%, and eliminating positioning errors caused by vibrations.en_US
dc.identifier.doi10.1007/s40997-023-00650-0
dc.identifier.endpage291en_US
dc.identifier.issn2228-6187
dc.identifier.issn2364-1835
dc.identifier.issue1en_US
dc.identifier.scopus2-s2.0-85160287364en_US
dc.identifier.scopusqualityQ2en_US
dc.identifier.startpage273en_US
dc.identifier.urihttps://doi.org/10.1007/s40997-023-00650-0
dc.identifier.urihttp://hdl.handle.net/20.500.12403/3457
dc.identifier.volume48en_US
dc.identifier.wosWOS:000993910900001en_US
dc.identifier.wosqualityQ3en_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherSpringeren_US
dc.relation.ispartofIranian Journal of Science and Technology-Transactions of Mechanical Engineeringen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectComposite manipulatoren_US
dc.subjectEndpoint vibrationsen_US
dc.subjectMotion-based controlen_US
dc.subjectModified motion planningen_US
dc.titleInvestigation of Vibration Control Performance with Modified Motion Planning Based on Basic Functions for Composite Robot Manipulatorsen_US
dc.typeArticleen_US

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