Abstract
For flexible robots with rotational joints it has been shown previously by Luo (1993), that direct strain feedback can damp out vibrations very satisfactorily. In this paper, a simple sensor-based output feedback control law, called shear force feedback, is newly proposed to control vibrations arising from structural flexibility of robots of Cartesian or SCARA types. Closed-loop exponential stability of such shear force feedback system is proved. Experimental results on set point control and trajectory tracking control are reported. It is found that the simple PI+shear force feedback can yield good performance for both robot motion and vibration suppression.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
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