Intelligent Evolutionary Controller for Flexible Robotic Arm
Robotic is one of the key technologies towards Industrial Revolution 4.0. Robotic system, especially robotic arm have received tremendous demand in various fields especially manufacturing industry. Robotic arm is highly needed to enhance production, improve output, reduce human error and the most...
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Main Authors: | , |
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Format: | Article |
Language: | English |
Published: |
IOP Publishing Ltd.
2020
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Subjects: | |
Online Access: | http://ir.unimas.my/id/eprint/32716/1/Intelligent%20Evolutionary%20Controller%20for%20Flexible%20RoboticArm_PDF.pdf http://ir.unimas.my/id/eprint/32716/ https://iopscience.iop.org/article/10.1088/1742-6596/1500/1/012020 |
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Summary: | Robotic is one of the key technologies towards Industrial Revolution 4.0. Robotic
system, especially robotic arm have received tremendous demand in various fields
especially manufacturing industry. Robotic arm is highly needed to enhance production,
improve output, reduce human error and the most importantly, earn more profit with
fast return on investment. The current industrial robotic arm, not only they are very
expensive and required specialist for maintenance, they are also very heavy and difficult
to manoeuvre. These facts are the reason why robotic solution are still unaffordable in
most small and medium manufacturing industries in developing countries. Despite all
the drawbacks, there is still a pressing need to employ robotics solution with the inherent
problems of worker-related issues and output quality. Today, work requires a nimble
and versatile robot and yet remain reliable. Operating robots should be simpler, where
the learning curve is less steep. The user interface should be friendly and intuitive.
Recently, there is a growing interest in employing lightweight, stronger and more
flexible robotic arm in various fields. However, lightweight robot arm can be more
easily influenced by unwanted vibrations, which may lead to problems including
fatigue, instability and performance reduction. These problems may eventually cause
damage to the highly stressed structures. This research focused on the development of
the intelligent evolutionary controller algorithms for controlling flexible robotic arm
manipulator. The controller algorithm has been formulated for trajectory planning
control and vibration cancelation utilizing intelligent evolutionary algorithms such as
Particle Swarm Algorithm and Artificial Bees Colony. The developed evolutionary
algorithms have been implemented and experimentally verified using robotic arm
manipulator experimental rig. The performances of these intelligent evolutionary
controllers were found to be far better than the conventional method in term of input
tracking, trajectory control and vibration cancelation. |
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