Reaction torque feedback based vibration control in multi-degrees of freedom motion system

This paper presents a position control method in a multi-degrees of freedom flexible manipulator. For the control of the flexible manipulator, it is easy to construct the controller in each joint. In practical application, however, the workspace is preferred to the joint space for position control of the multi-degrees of freedom manipulator. This paper shows a novel control strategy of the flexible manipulator in the workspace. First, to suppress the vibration of the arm, the proposed approach introduces the feedback of reaction torque. Second, the controller includes a displacement feedback caused by the elastic deformation of the arm to increase the response speed. The combination of the reaction torque feedback in the joint space and the displacement feedback brings the stable and robust position control in a multi-degrees of freedom flexible manipulator. The effectiveness of the proposed method is confirmed by several experiments.