Vibration control of multiple mass system by estimated reaction torque

This paper describes a vibration control strategy for a flexible link arm by using the feedback of estimated reaction torque. In the proposed approach, the reaction torque, which can be estimated by an observer, is fed back to achieve a stable position response. First, a model of the flexible link arm is introduced. Resonance ratio control is then applied to the semi-closed position controller of the motor portion. The dynamical behavior of the flexible link arm is then described as a multiple mass spring model which is useful for controller design and analyses. Several experimental results are also shown to confirm the validity of the proposed approach.