Fast suppression of vibration for multi-link flexible robots using parameter adaptive control

摘要

A simple direct parameter update rule is presented to suppress the vibration more quickly by considering the dynamics of the flexible subsystem. Different from most of adaptive control schemes in multilink flexible robots, which are a model independent approach, the proposed adaptive control utilizes model parameters and updates them. Usually, the precise modeling of multi-link flexible robot is hard to obtain and even if we can get it, it is difficult to use in the online control tasks. For these reasons, a simplified model is used to describe the robot dynamics. The modelling errors and other structured uncertainty are considered as parameter perturbation. We verify the effectiveness of the proposed algorithm through experiments.