Simple Physically Parameterized Observer for Vibration Suppression Control of SCARA Robot with Elastic Joints

摘要

This paper presents a practical solution for vibration suppression control of a SCARA robot with elastic joints, utilizing motor-side measurements only. We previously proposed a torsion-angular velocity feedback (TVFB) scheme for vibration suppression control. The scheme utilizes an uncomplicated nonlinear observer based on a physically parameterized dynamic model of the elastic-joint robot arm with harmonic-drive (HD) gears. The TVFB can be easily plugged into existing joint servos such as PI velocity controllers. In this paper, the TVFB scheme is applied to the SCARA robot that has a complex structure composed of rotary-vector (RV) gears, timing belts, and an elastic prismatic joint. Experiments are conducted to validate that the TVFB scheme also has the capability to suppress vibration of the tip of the elastic prismatic joint with a payload, utilizing a simple two-link two-inertia model in the nonlinear observer.