Device and method for control of flexible link robot manipulators

摘要: A method and device for controlling dampening undesirable vibrational movement within flexible linkage of a robot arm coupled to movable, controlled joint attached drive motor. The includes the steps providing position displacement control in accordance with velocity feedback input. In addition, elastic deflection arising is detected time-dependent signal proportional degree generated. algorithm develops signals input which are approximately its first two time derivatives, each multiplied by gain whose value selected reduce further deflection. This procedure applied structure incorporating detection components converting application system arm. Elastic deflections upon almost immediately nullified allowed reposition itself without interference from such forces resultant movement.