Robust Vibration Control of a Flexible Robot Arm Carrying an Uncertain Load That Causes Bending/Torsional Coupling
Toru Watanabe, Kohsuke Yamamoto, Kohei Takamura,
and Kazuto Seto
Dept. of Mechanical Engineering, College of Science & Technology, Nihon University, 1-8 Kanda Surugadai, Chiyoda-ku, Tokyo 101-8308, Japan
This paper presents the design procedure of a robust H∞ controller for bending/torsional coupled vibration of a flexible robot arm. If the arm does not hold the center of the load, it possesses bending/torsional coupled vibration modes that may not be precisely identified. In this research, we use H∞ robust control design with structured uncertainties used to describe the model error in the coupling of bending/torsional vibration. We set up an experimental system and identify two physical models using Seto’s modeling method. An H∞ controller is designed using these models and control simulations and experiments are conducted. Our results demonstrate the feasibility and effectiveness of the proposed modeling and controller design method.
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