Nonlinear Vibration Control of L-Shaped Arm by Using Servo Motor Actuator

Abstract

In recent years, many robotic arms have been used in various industrial systems to reduce labor costs. In order to improve work efficiency, the weight of the robot arm has been reduced. However, this reduction increases the flexibility of the robot arm and the vibration of the arm. In order to achieve high-speed and high-precision motion, it is necessary to control the vibration of the arm. In this paper, a servo motor and a piezoelectric element are used as actuators to control the vibration of an L-shaped arm. A nonlinear control system for the L-shaped arm based on operator theory is designed, and the effectiveness of the proposed method is verified by simulation and experiments.