Vibration Control of a Robot Arm by Trajectory Generation Using Sliding Mode

Abstract

This paper deals with sliding mode control for trajectory generation to reduce the vibration of a robot arm. When the robot arm is driven, it produces its vibrations when its rigidity is low, so the prevention of such vibration has become more important. In this paper, in order to suppress a vibration of a robot arm, we propose a new control approach which generates a reference trajectory to the lower controller to suppress vibration. The effectiveness of the method is demonstrated by simulation studies.