Vibration control of a multi-flexible-link robot arm under gravity

This paper proposes a novel independent joint control concept on a 3 DOF flexible link robot subject to deflections caused by gravity. The scheme dampens induced link oscillations in the presence of configuration dependant plant frequency and damping variations by integrating link strain feedback and impulse based input shaping. The approach is robust and the control does not depend on a dynamic model at runtime. The damping efficiency is evaluated experimentally in terms of strain measurement as well as end-effector position across the entire workspace.