Abstract
In real robotic systems, when external disturbances (forces and including gravity of the robot) are applied, the vibration effect due to the inherent elastic deformation has to be taken into account in some cases. This paper presents an adaptive compensator by piezoelectric elements to cancel the vibration effect. First, the disturbance model of the external disturbance and the vibrational arm mode is derived. Second, by using coprime factorization, the adaptive compensator is designed to estimate the parameters of the disturbance model. Using the norm bound given by small gain theorem(SGT), robustness of the proposed control system is evaluated. Simulation results support the above proposals.
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