Flexibility of driving systems produces robot arm vibration. Since vibration decreases the operation efficiency and quality, the prevention of such vibration becomes an important consideration in robot arm control. High-gain feedback of distortion in driving systems at each joint improves the oscillatory behavior of the robot system. By using a theory of multivariable root-loci, we present two propositions on the behavior of the closed-loop eigenvalues when the high-gain feedback of distortion is implemented.
No takes yet. Share an insight, caveat, or question.
FURUSHO et al. (1990) studied this question.