Review on Controlling Flexible Robotic Arm - System Identification of Intelligent Evolutionary Algorithm and Dynamic Modelling of Mechanical and Hydraulic Manipulator

摘要

Robotics is one of the significant technologies related to "Industrial Revolution 4.0." Robotic arm has got a lot of demand in several industries like manufacturing. It is very important to improve production, output, Return on Investment (ROI), and profitability, and reduce human error. The existing robotic arm used in industries is not just expensive and needs experts for maintenance, it is also very bulky and hard to shift. This is why robotic solution is still out of budget for a lot of small and medium enterprises in emerging economies. Irrespective of those problems, robotics solution is still needed to solve the existing issues related to output quality and workers.In this day and age, a reliable and versatile robot is needed in manufacturing industry. Robots must be easier to operate with less learning curve. Their user interface should be intuitive and friendly. There is a rise in demand for using stronger, lightweight, and more flexible robotic arm in different areas. However, unwanted vibrations can easily affect light robotic arm which may cause problems like instability, fatigue, and performance issues. Eventually, these problems affect highly stressed environment. This study is based on the development of "intelligent evolutionary algorithm to control flexible robotic arm." This algorithm is designed for "vibration cancellation" and "trajectory planning control" with "intelligent evolutionary algorithms" like "Artificial Bees Colony" and "Particle Swarm Algorithm." These evolutionary algorithms have been tested, implemented, and verified with "robotic arm manipulator experimental rig." These smart controllers were found to perform much better than traditional approaches in terms of trajectory control, input tracking, and vibration cancellation.