Vibration Control of a Two-Link Flexible Robot Arm with Time Delay through the Robust Receptance Method

This paper proposes a method for active vibration control to two-link flexible robot arm in the presence of time delay, by means robust pole placement. The issue is practical and theoretical interest as delay can cause instability if not properly taken into account controller design. design performed through receptance exactly assign pair achieve given stability margin ensuring robustness uncertainty. desired achieved solving an optimization problem based on Nyquist criterion. applied laboratory testbed that mimic typical robotic system employed pick-and-place applications. linearization assumption about equilibrium configuration leads identification local receptances, holding infinitesimal displacements it, hence applying proposed technique. Nonlinear terms, due finite displacements, uncertainty, disturbances, coarse encoder quantization, are effectively handled embedding requirement experimental results, consistence with numerical expectations, demonstrate effectiveness ease application.