抄録
SCARA robot arm widely used as assembly manipulators in an industrial factory. The robots have the elastic elements in the torque transmission. It makes a residual vibration. Recently, the industrial robot's performances are demanded both speed and an accuracy, this phenomenon can't be missed. This paper proposes a elastic vibration control method used by a nonlinear PID control with virtual model. This proposed method changes P gain of PID control. In consequence it could control the vibration and more quickly than PID control. The proposed method uses virtual model to decide P gain. Experiment, use SCARA robot, presented to show the effect of this proposed methdd.
