Computed acceleration control for the vibration suppression of flexible robotic manipulators

Proposes a control scheme, called computed acceleration control, for the control of spatial flexible robotic manipulators. In the scheme the joint accelerations are computed from the equations of link elastic motion (vibration) after regarding the accelerations as the control inputs to the equations. The equations of overall motion (joint motion) is then used to compute the control commands to the joint motors. It is shown that this scheme gives a theoretical solution to the problem of designing a variable gain controller for the vibration suppression of the spatial flexible manipulators. The theory is followed by an example of a three degrees-of-freedom spatial manipulator and a preliminary experiment using a planar manipulator driven by velocity servos.<>