Oscillation Characteristics of Single-Link Flexible Manipulator Using Design Parameters in Fuzzy Domain

The instability and in-situ vibration of a single-link flexible manipulator pose a considerable barrier to real-time dynamics modelling. To enhance the significance of the real-time dynamics of the flexible manipulator, the incorporation of uncertainty in the parameters of the single-link manipulator is undertaken.

This study presents an innovative approach to address the conjugate issue of joint instability and vibration in a prototypical single-link flexible robotic manipulator. The proposed solution considers the uncertainty associated with the design parameter(s) incorporated in the governing differential equation.

Associated parameters are considered as TrFN, we found the uncertain frequencies of a single-link system in a fuzzy environment. The acquired fuzzy frequencies are then displayed in graphs and tables alongside the crisp case frequencies for comparison. Lower and upper boundaries of frequency are derived for each mode.

A novel fuzzy model based on uncertainty analysis has been developed for the single-link manipulator and the same has been successfully validated using strain gauge-based sensory instrumentation.