Suppressing vibration of robot arm using frequency-dependent LQ method

Abstract

A novel control method for suppressing the vibration of a robot arm which is based on the frequency-dependent LQ design is proposed. A servo controller design method designed to minimize frequency-dependent tracking error is applied to lessen the vibration of the robot arm. Simulations and experiments using the proposed method were carried out. In the simulations, good results for a simple plant were obtained with the method. In the experiments, a six-degree-of-freedom robot arm was used. Using the proposed method, the vibration of the robot arm was suppressed satisfactorily.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>