Gain-scheduling H infinity vibration control of SCARA type robot manipulators

This paper is concerned with the application of gain-scheduling H-infinity technique to the vibration control of SCARA type robot manipulators. The dy namics of multi-link robot manipulators, such as the SCARA type robot manip ulators, are of highly nonlinear time-varying property, and this fact makes it difficult for a single linear time-invariant controller to achieve the desired performance. The gain-scheduling H-infinity technique is an extensi on of standard H-infinity synthesis technique to the case that a plant depe nds affinely on a time-varying parameter vector delta(t). The vibration con troller designed via this technique is automatically gain-scheduled accordi ng to the position of the links of the manipulators and makes the dynamics of the closed-loop system unchanged along the input trajectory. The effecti veness of the proposed controller is demonstrated by simulation.