CONTROL OF FLEXIBLE ROBOTIC ARMS. (1ST REPORT, VIBRATION CONTROL OF FIRST AND SECOND DEGREES OF FREEDOM SYSTEMS).

Dynamic characteristics and control method of a flexible robotic arm of first degrees of freedom system are shown modeling a flexible arm as an elastic beam. Vibrations of the arm in positioning can be suppressed by the dynamic compensation with consideration of the arm flexibility, of which current robot arms have more or less in manipulating payloads. Subsequently, a control method of a SCARA type of a second degree of freedom system is shown based on the local feedback with variable adapative gains to suppress vibrations in positioning control. In case of arm collisions against other objects, a control method to recover the state before collision is also shown as an application. The control methods proposed here are not limited to this type of robotic arms, but also applicable in more general cases.