Vibration suppression and disturbance rejection control of a flexible link arm

This paper presents a position control method to suppress vibration and the arm disturbance torque of a flexible link arm. The feedback of the reaction torque is effective for the suppression of the arm vibration. In such a method, however, the robustness against the arm disturbance decreases since its effect directly imposes on the motor side through the reaction torque feedback. In this paper, we propose a method to reject arm disturbance under the reaction torque feedback. Here, two strategies to estimate the arm disturbance are proposed. Then the estimated arm disturbance is fedback through the inverse system of the motor side. The validity of the proposed method is confirmed by several numerical results