Research on vibration suppression control strategy of a gantry-type nine-axis redundant degree of freedom manipulator

Abstract The gantry-type nine-axis redundant degree of freedom manipulator adds three redundant degrees of freedom to the outside of the six-axis manipulator. Nonetheless, due to the increase of the telescopic arm, the rigidity of the structure is reduced, contributing to excessive vibration at the end of the mechanical arm when the mechanism moves. A noval control framework was developed a fuzzy fractional-order PID controller with optimal input shaping and builds a MATLAB simulation model of the system by analyzing the mechanism’s dynamic model, kinematics model, and modal characteristics. In Simulink, the simulation and comparative analysis were carried out with the traditional PID controller, fractional-order PID controller, and fuzzy fractional-order PID controller respectively, and the numerical outcomes were compared with the physical machine motion test results. Experimental validation demonstrates that the proposed control scheme achieves superior vibration attenuation performance, limiting end-effector displacement amplitudes to less than 0.4 mm during typical operational scenarios, which provides an effective reference for solving the problem of overlapping and deviation of the spraying trajectory of the robotic arm.