IEEE Systems, Man and Cybernetics Magazine - July 2022 - 67

the simulation, the model based on M-SVR is used as a
substitute for the plant.
Figures 10-12 show the behavior of the x-, y-, and
z-coordinates of the tip, respectively. It can be seen that all
of these values converge to the target value. It can also be
seen that there is a slight error in all of them. This is
thought to be caused by the use of values converted from
the target values in deriving the deviation.
Experiment
Experimental System
The experimental system is shown in Figure 13. The system
consists of an air compressor, various regulators, two
cameras, and the actuator. The actuator and measurement
devices are placed on a vibration isolator. The paths of
compressed air and electrical signals are displayed in
-5
-10
-15
-20
-25
-30
-35
-45
-40
05 10 15 20 25 30
Time (s)
Figure 11. The y-coordinate of the tip.
Output
Reference Input
45
40
35
30
25
20
15
10
5
05 10
Time (s)
Figure 12. The z-coordinate of the tip.
Output
Reference Input
15 20 25 30
Regulators
Electropneumatic
Regulator
Safety Regulator
Actuator
Vibration
Isolator
Camera
Microcomputer
Figure 13. The experimental system.
July 2022 IEEE SYSTEMS, MAN, & CYBERNETICS MAGAZINE 67
Controller
y (mm)
z (mm)

IEEE Systems, Man and Cybernetics Magazine - July 2022

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