Vibration and motion control design and trade-off for high-performance mechatronic systems

This paper discusses the H∞-based design of a vibration controller for an industrial pick-and-place machine. A vibration controller is added to the classical motion control scheme with the purpose of improving positioning behavior by reducing the vibration level and settling time. It is shown that a trade-off is required between vibration reduction and motion control. The approach is validated experimentally and the results clearly illustrate the benefit of the proposed method.