Vibration control of multiple mass system by estimated reaction torque

This paper describes a vibration control strategy of a flexible link arm by the feedback of estimated reaction torque. In the proposed approach, the reaction torque, which can be estimated by observer, is fed back to achieve the stable position response. First, a model of the flexible link arm is introduced. Second, the resonance ratio control is applied to semi-closed position controller of motor portion. Then the dynamical behavior of the flexible link arm is described as a multiple mass spring model which is useful for the controller design and analyses. Several experimental results are also shown to confirm the validity of the proposed approach.