Position and vibration control of a flexible robot manipulator using hybrid controller

In this work, position and vibration control problem of a flexible robot arm with a voice coil type actuator is investigated. For the vibration suppression, a voice coil type actuator is designed and is implemented using H-infinity control scheme, in order to guarantee the controlled system robust against unmodeled higher-order mode vibration of the arm, output sensor noise, etc. A fuzzy logic based controller is used for the position and vibration control of the joint hub. Experimental results confirm that the proposed hybrid control scheme of combining fuzzy logic and H-infinity controller achieves efficient positioning and vibration suppression performances. (C) 1999 Elsevier Science B.V. All rights reserved.