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The objective of our research is to develop a high-performance position control system for flexible industrial robots. Compared to traditional industrial manipulators with rigid links and joints, flexible robots are often more difficult to control because of the mechanical vibrations caused by the low-stiffness mechanisms and coupling torques between links. This paper proposes a decoupling control design based on a 2-Degree-of-Freedom (2-DoF) control framework for flexible two-link robots with lightweight links and strain wave gears. The effectiveness of the proposed method is verified through experiments with a prototype.

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Fast-response with high-precision positioning for industrial robots is an indispensable requirement in a wide range of applications. Nonetheless, resonant vibrations due to flexibilities in mechanical structures generally deteriorate their motion performance. A practical approach to achieve fast and precise positioning is to use a two-degree-of-freedom (2-DoF) control system with feedback and feedforward compensators. Conventionally, a cascade feedback control system is constructed based on P-PI control, where the position and velocity controllers are respectively implemented using a proportion (P) and a proportion-integrator (PI). The paper proposes robust vibration suppression using H ∞ control as an alternative design for the feedback compensators in the 2-DoF cascade closed-loop control framework of a flexible robot arm. Acceleration feedback is also applied to improve the control performance. The effectiveness of the proposed design has been verified by conducting experiments using a prototype.