H<inf>∞</inf> Control-based Vibration Suppression in Robot Arm with Strain Wave Gearing

Abstract

The paper proposes a robust controller design using H <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sub> synthesis for a two-degree-of-freedom (2-Dof) full-closed control system, aiming to suppress the mechanical vibration due to elasticity in a robot arm. The proposed design has been verified by experiments using a prototype.