A Vibration Suppression Controller Design for a Two-Link Manipulator with Flexible Joints

This paper presents a new velocity controller to suppress vibrations for a two-link manipulator in a distributing controlled mode. Different from the conventional methods, the proposed method contains a state observer, a damper and a forward controller. The state observer obtains the flexible joint&...

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Bibliographic Details
Published in2021 3rd International Symposium on Robotics & Intelligent Manufacturing Technology (ISRIMT) pp. 454 - 458
Main Authors Xin, Qiang, Wang, Chong Chong, Chen, Chin-Yin, Yang, Guilin
Format Conference Proceeding
LanguageEnglish
Published IEEE 24.09.2021
Subjects
Damping
Manipulators
Observers
PI control
rigid-body velocity
Shock absorbers
Simulation
state observer
system damping
two-link manipulator
Vibrations
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Summary:This paper presents a new velocity controller to suppress vibrations for a two-link manipulator in a distributing controlled mode. Different from the conventional methods, the proposed method contains a state observer, a damper and a forward controller. The state observer obtains the flexible joint's rigid-body velocity indirectly. Based on the rigid-body velocity, the damper combined with a forward controller adds system damping to the system, achieving effective vibration suppression results. The simulation results show that the proposed method exhibits superior performance compared to a pure PI method.
DOI:10.1109/ISRIMT53730.2021.9596802