Tip Vibration Control of a Single-Link Flexible Robot Arm under Translational Motion

摘要

This paper presents a tip position control of a single-link flexible arm with a payload by using closed loop control. The shifting problem of the arm from the initial position to desired position is considered by the variation of the displacement gain G p and velocity gain G v . The system is composed of a flexible arm with payload, DC servomotor, and a ballscrew mechanism. The flexible arm is mounted on a mobile stage driven by a servomotor and ballscrew. As a result, the increase of the displacement and velocity gain respectively comes to the reduction of tip vibration. Theoretical results are approximately in good agreement with those obtained experimentally.