Eigenvector assignment based vibration suppression control for a two link flexible joint robot arm

As industrial robots are requested to be faster and more accurate, the vibration suppression control comes to play an important role for the robot motion control. This paper suggests a control method based on the eigenvector assignment to suppress the vibration of a two link flexible joint robot arm. The algorithm uses the right eigenvector assignment to reduce the errors and the vibration of the arm. The suggested algorithm is verified with a simulation using a dynamics simulator and with an experiment using a serial type industrial robot of 165 kg payload. The results of the simulation and experiment show the enhanced vibration suppression performance compared with that of eigenvalue assignment algorithm.