Abstract
This paper presents a practical solution for vibration suppression control of a SCARA robot with elastic joints, utilizing motor-side measurements only. We previously proposed a torsion-angular velocity feedback (TVFB) scheme for vibration suppression control. The scheme utilizes an uncomplicated nonlinear observer based on a physically parameterized dynamic model of the elastic-joint robot arm with harmonic-drive (HD) gears. The TVFB can be easily plugged into existing joint servos such as PI velocity controllers. In this paper, the TVFB scheme is applied to the SCARA robot that has a complex structure composed of rotary-vector (RV) gears, timing belts, and an elastic prismatic joint. Experiments are conducted to validate that the TVFB scheme also has the capability to suppress vibration of the tip of the elastic prismatic joint with a payload, utilizing a simple two-link two-inertia model in the nonlinear observer.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callSimilar Papers
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
