抄録
In this paper a fast and stable motion controller for a robot with a flexible arm using IDCS control scheme is proposed. The IDCS controller scheme, corresponds to a numerical computation of the inverse dynamics of the systems, allows stable high performance control even when the system model is inaccuracy. We applied IDCS with the controller adequate for suppressing vibration: Dual Model Matching(DMM) to the lift table and consider the reference tracking of IDCS with reduction of the vibration of the flexible arm.
