Modeling and controlling flexible robotic arms via fractional delay dynamics for vibration suppression

چکیده

This paper presents a novel fractional delay dynamic model for vibration suppression in flexible robotic arms. The model incorporates memory effects through fractional calculus and time delay dynamics to accurately describe the distributed flexibility and inherent delays in robotic systems. A fractional derivative of the Caputo type is used to ensure physical interpretability, while the delay terms capture the actuator and sensor delays. The proposed model is coupled with an active control strategy to effectively suppress residual vibrations. Numerical simulations demonstrate superior performance compared to classical integer-order models without delay. The results confirm that the proposed framework significantly enhances the vibration damping, stability, and control accuracy in flexible robotic arms.