抄録
This paper proposes a flexible motion control based wave theory. In robotic applications, vibrations due to mechanical resonances often occur because of use of some flexible mechanism or reduction of mass. Additionally, the rapid motion which have been possible to be realized by development of the motion control theory induces the mechanical resonances. Therefore, it is important to consider the vibration suppression of resonant systems for achieving the precise motion control on robotic systems. In this paper, the resonant system is modeled as a wave equation to consider high-order vibrations. Based on the wave model, the reflected wave rejection to suppress the vibration with considering the bandwidth of a disturbance observer is proposed. The validity of the proposed method is verified by the numerical simulations.
