Vibration Absorption Control of Robot Arm with Flexible Drive System : The Case of One-Link Arm Using Harmonic Drive

摘要

Flexibility in harmonic drives produces robot arm vibration. The prevention of such vibration becomes an important problem in robot arm control since vibration decreases the operation efficiency and quality. High gain feedback of distortion in drive systems improves the oscillatory behavior of the robot system. This paper presents some properties of the high gain feedback of distortion and proposes a state estimator which estimates the distortion by suing the information from an acceleration meter or strain gauges. The proposed state estimater withstand parameter variation. Experimental results show that the proposed vibration absorption control method is effective and robust.