Motion control for articulated robots based on accurate modeling

This paper proposes a motion control technique for robot manipulators. And the strongest point of the technique is high performance on vibration suppression. The robot control system proposed is characterized by a function that considers the rotor dynamics including rotor masses and the low rigidity in the mechanical reduction gears. The controller is designed as a sampled-data optimal servo control system with a digital disturbance observer expressed by state space form. Finally, an experimental result on a real two degrees of freedom robot manipulator is shown.