P. Boscariol, A. Gasparetto
Vibration suppression of speed-controlled robots with nonlinear control
Frontiers of Mechanical Engineering 11(2), pp. 204-212, 2016

Abstract: In this paper a simple nonlinear control strategy for the simultaneous position tracking and vibration damping of robots is presented. The control is developed for devices actuated by speed-controlled servo drives. The conditions for the asymptotic stability of the closed-loop system are derived by ensuring its passivity. The capability of achieving both improved trajectory tracking and vibration suppression are show trough experimental tests conducted on a three axes Cartesian robot. The control is aimed to be compatible with most industrial applications, given the simplicity of implementation, the reduced computational requirements and the use of joint position as the only measured signa

Topic: Control

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