Transactions of the Institute of Systems, Control and Information Engineers
Online ISSN : 2185-811X
Print ISSN : 1342-5668
ISSN-L : 1342-5668
Vibration Suppression of Robots with Both Flexible Joints and Flexible Arms
Zheng-Hua LUORyoji KAWATANIShigeo YANABE
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1995 Volume 8 Issue 12 Pages 708-714

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Abstract

In recent years, there have been many studies reported concerning control of robots with flexible arms or flexible joints. However, control problems for robots with both flexible arms and flexible joints are rarely addressed. In this paper, we discuss how to model and control one-link robots with a flexible arm and a flexible joint. We show that
(1) the flexibility in joints can decrease vibration frequency of flexible arm;
(2) a simple PD feedback of motor angle can control satisfatorily the position of robot arm ;
(3) PD + strain rate feedback can yield good responses of the arm's positioning and vibration suppression.
Simulations are conducted to demonstrate these theoretical results.

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