Abstract
Force control becomes important in order to be the environmental realization where a robot and human being coexist. In such an environment, it is thought that the flexible arm is effective to weaken the force when the arm contacts human. In this study, the equation of motion of a flexible robot arm is assumed to be 2 link rigid body model. The equation of motion is driven by Lagrage's equation. However, by assuming that it is 2 link rigid body model, a modeling error arises. H_∞ Control is well known as the robust control method for a modeling error, disturbance, etc. This study shows the design method of vibration and force control for a flexible robot arm using H_∞ control theory.
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