Slewing and Active Vibration Control of a Flexible Single-Link Manipulator
Round 1
Reviewer 1 Report
Comments and Suggestions for AuthorsThe paper presents notable advancements, but also has certain limitations that could be considered drawbacks:
1. While the dynamic model incorporates nonlinear terms, the study assumes that the nonlinear effects of angular velocity are negligible unless the velocity is extremely high. This assumption might limit the applicability of the model for systems operating under different dynamic conditions or with higher angular velocities.
2. The active vibration control targets only the fundamental mode of vibration. While this is sufficient for the scenarios tested, higher-order vibration modes can become significant in more complex systems or under different excitation conditions.
3. The experimental validation relies on a zero-backlash worm gear. This component reduces complexities such as gear backlash but may not reflect the realities of systems using conventional gearboxes with backlash or other nonlinearities.
4. The PID controller used in the experimental setup introduces chattering and imperfection in eliminating all higher-order vibration modes. This may affect the precision of the vibration suppression in practical implementations.
Author Response
See the attached file.
Author Response File: 
Author Response.pdf
Reviewer 2 Report
Comments and Suggestions for Authors- I believe this research was conducted along similar lines in the past. Very renowned authors such as Balas and Spong, among others, were involved. The topic was likely considered as part of control problems for distributed parameter systems, specifically for the development of lightweight manipulators in space.
Additionally, at that time, issues like the Spillover Problem caused by finite approximations of infinite-dimensional systems and Collocation Problems due to a finite number of actuators and sensors were gaining attention. At the same time, adaptive control and robust control problems were also significant topics of interest.
- For example, a reference that discusses the history of these topics in detail is:
Pereira, E., Becedas, J., Payo, I., Ramos, F., and Feliu, V.,
Control of Flexible Manipulators: Theory and Practice,
March 2010
DOI: 10.5772/9209
This work provides a fairly detailed account of the subject.
- Compared to the early studies on flexible link manipulators, what is new and original about your research? You mention the lack of corresponding experiments as part of your motivation, but various experiments were indeed conducted during that period, weren’t they?
- Of course, given the difference in eras, it is true that your results differ in some respects from those obtained at the time. For instance, the actuation devices have been modernized to some extent, and computer processing has also become faster. However, are these advancements the contributions of your research team?
What is the novelty in your control theory or its implementation?
Author Response
See the attached file.
Author Response File: Author Response.pdf
Reviewer 3 Report
Comments and Suggestions for AuthorsDear authors,
The authors present research on the slewing and vibration suppression of flexible single-link manipulators. The article has many immature sections where I am quite confused.
Please find the attached file.
Comments for author File: Comments.pdf
Author Response
See the attached file.
Author Response File: Author Response.pdf
Round 2
Reviewer 2 Report
Comments and Suggestions for AuthorsI read the replies to my four questions and comments from the previous article. In particular, I read the reply to reply 3 in detail. In the end, I was satisfied with the detailed reply to what was done here (both theoretically and experimentally) and why. Therefore, I felt that the significance of this paper was stated much more clearly in the revised version than in the original manuscript.
Author Response
Thank you for your insightful comments. Your feedback has greatly contributed to making the manuscript clearer and more reader-friendly.
Reviewer 3 Report
Comments and Suggestions for AuthorsDear author,
The author has provided a detailed response, and the reviewer has no further questions.
Author Response
Thank you for your insightful comments. Your feedback has greatly contributed to making the manuscript clearer and more reader-friendly.
