Motion and Vibration Control of a Flexible Robot Arm (Example of the Extended Reduced Order Physical Model)

Abstract

The purpose of this study is to control simultaneously, motion and vibration of a flexible flat-plate structure. For this purpose, we propose an extended physical modeling technique, which is able to expand to multi-body dynamics in flexible structures. And, the 2 DOF optimum integral control theory is applied to the control of motion and vibration of the structure. The result of simulation is compared with the result of the experiment. It is verified that this method is effective for high-speed motion and good vibratory control of plate structure.