A Vibration Suppression Controller Design for a Two-Link Manipulator with Flexible Joints

This paper presents a new velocity controller to suppress vibrations for a two-link manipulator in a distributing controlled mode. Different from the conventional methods, the proposed method contains a state observer, a damper and a forward controller. The state observer obtains the flexible joint's rigid-body velocity indirectly. Based on the rigid-body velocity, the damper combined with a forward controller adds system damping to the system, achieving effective vibration suppression results. The simulation results show that the proposed method exhibits superior performance compared to a pure PI method.