Suppressing vibration of robot arm using frequency-dependent LQ method

A novel control method for suppressing the vibration of a robot arm which is based on the frequency-dependent LQ design is proposed. A servo controller design method designed to minimize frequency-dependent tracking error is applied to lessen the vibration of the robot arm. Simulations and experiments using the proposed method were carried out. In the simulations, good results for a simple plant were obtained with the method. In the experiments, a six-degree-of-freedom robot arm was used. Using the proposed method, the vibration of the robot arm was suppressed satisfactorily