Vibration-suppression and fast-positioning control of elastic-joint robot arm utilizing nonlinear-model-based phase-lead compensator
作者： Junji Oaki , Shuichi Adachi
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摘要: This paper provides a practical solution for precise and fast control of an elastic-joint robot arm using motor-side sensors only. We previously proposed torsion-angular velocity feedback (TVFB) scheme vibration-suppression control. The utilizes uncomplicated nonlinear observer based on physically-parameterized dynamic model the arm. TVFB can be easily plugged into existing joint servos like PI controllers. Using arm, this experimentally demonstrates that is equivalent to nonlinear-model-based phase-lead compensator. Furthermore, several experiments are conducted validate has capability satisfy both fast-positioning
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