Vibration Control and Trajectory Control for Robot Manipulators

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In this research. several kinds of controllers to suppress vibrations of robot manipulators with flexible joints have been investigated by experiments.The first kind of controllers are based on the state observer and the state feedback by using the linearized dynamics of the manipulators. It is very difficult to seek the location of poles with the robust stability and the robust performance. The residual vibration is excellent to be suppressed but the trajectory error is not so small.The second is the nonlinear feedforward controller with adaptive identification of physical parameters. In this case, the trajectory error is excellent although the residual vibration is not suppressed very much.The third controller is designed via H* control theory. This controller has the performance such that it is superior to the second one with respect to the residual vibration and also it is superior to the first one with respect to the trajectory error.