Recursive control of robot manipulator with elasticity

H. Yan, T. Murakami, K. Yuki, K. Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)


This paper presents an advanced method for suppressing torsional vibration of a flexible joint which connects a motor shaft and a driven arm. In the proposed method, at first, the position controller is designed on the basis of a model of rigid arm by recursive control law. After that, a compensation element is added to increase the stability of the total system, where only motor velocity is used for the purpose. The proposed method realizes a robust control and because of its model-free structure it is easy to implement the proposed algorithm. Experimental results are also presented to show its effectiveness.

Original languageEnglish
Title of host publicationDrives I
Editors Anon
PublisherPubl by IEE
Number of pages6
ISBN (Print)0852965877
Publication statusPublished - 1993 Dec 1
EventProceedings of the 5th European Conference on Power Electronics and Applications - Brighton, Engl
Duration: 1993 Sept 131993 Sept 16

Publication series

NameIEE Conference Publication
ISSN (Print)0537-9987


OtherProceedings of the 5th European Conference on Power Electronics and Applications
CityBrighton, Engl

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


Dive into the research topics of 'Recursive control of robot manipulator with elasticity'. Together they form a unique fingerprint.

Cite this