A model-based control law for vibration reduction of serial robots with flexible joints

The presence of flexibilities in rotational joints can limit the kinematic performances manipulators doing high speed tasks as Pick and Place. problem addressed this work concerns vibration control serial robots with flexible performing Place order to improve productivity. Based on a dynamic model robot joints, model-based law is proposed its associated tuning methodology. then key point our This considers stiffness damping each joint. To guarantee accuracy, geometrical identification procedure realized. objective show relevancy approach which integrates joint law. Theoretical results based representative are used illustrate benefit compare two other strategies (Feedforward dedicated rigid structures). Finally, sensitivity analysis realized quantify impact modelling error conclude criticality value decreasing.