Abstract
This paper deals with a control technique of eliminating the transient vibration of an waist axis of an articulated robot. This technique is based on a model-based control in order to establish the damping effect. The control model is composed of reduced-order electrical and mechanical parts. This model estimates a load speed converted to the motor shaft. The difference between the estimated load speed and the motor speed is calculated dynamically and is added to the velocity command to suppress the transient vibration of the end-effector. The performance of this control technique is investigated by simulations. The effectiveness is confirmed even if the modeling error of the 1st natural frequency exists.
