VIBRATION CONTROL FOR A ROBOT MANIPULATOR WITH BASE COMPLIANCE

When a manipulator is mounted on a flexible-link manipulator or a flexible base, it loses its accuracy and speed due to the compliance of the base. This paper presents a simple robust control strategy that reduces mechanical vibrations and enables better tip positioning. The proposed control algorithm uses the sensory feedback of the base oscillation to modulate the manipulator actuator input to induce the inertial damping forces. This work extends to a general case of nonlinear multiple-link manipulators using acceleration feedback and one sample delayed torque vector. The simulation study shows very promising results for a three-link manipulator mounted on a compliant base.