Fine vibration suppression control based on new two-inertia state observer feedback against three-inertia robot joint

Industrial robots are required to perform high-speed and high-precision motion. Industrial robots are controlled using a conventional PI velocity controller with state feedback system for a two-inertia system. In general, the axis is modeled as a two-inertia system. However, a three-inertia system is required for modeling the axis because the industrial robot is required to have more high-performances motion. This paper proposes a vibration-suppression control system for a three-inertia system based on a PI velocity control system with state feedback system using the two-inertia approximation model. The new two-inertia system for the state observer is designed as an approximation model based on the three-inertia system. The effectiveness of the proposed system is confirmed by numerical simulations and experiments.