Dynamics modeling and smooth control of flexible robot joint

The flexibility of robot joint has become the key factor to achieve the high performance control. Based on the established mathematical model, taking the flexible joint of joint robot for example, the dynamic model of the flexible joint is established by Lagrange´s equations of the second kind and a detailed derivation process is presented. In order to realize the smooth motion control of robot joint and prevent the vibration effect caused by the shock of acceleration and deceleration on flexible joint, the S curve acceleration and deceleration control algorithm is adopted and verified through the related experiments. It is found that the S curve acceleration and deceleration control algorithm can realize the continuous acceleration on the trajectory of movement, improve the tracking performance of robot and reduce the residual vibration effectively.