Full State Feedback-based Vibration Suppression Control of Flexible- Link Flexible-Joint Robot

The paper presents a vibration suppression control scheme using full state feedback with observer for a quasi-full-closed control system of a flexible-link flexible-joint robot arm. The load-side states that are not available for the full state feedback are estimated using a decoupling observer considering angular transmission errors. On the other hand, the feedforward compensators for the system with the state feedback are designed using a coprime factorization expression. The effectiveness of the proposed design is verified through experiments.