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The novel end-effector disturbance compensation considering total arm stiffness is proposed in this paper. By using only D-PD control with vibration suppression scheme for two-inertia model of flexible joint robot, the load-side position does not perfectly reach the desired position owing to the effect of external force to the elastic joint. The proposed compensation method is based on two-inertia model in vibration suppression control and disturbance compensation considering total arm stiffness parameter which motivates the simple consideration of the elastic joint and link under external disturbance torque. Block diagram in Fig. 1 shows concept of the proposed external disturbance torque compensation. The characteristic of D-PD control is considered in deriving the transfer function Gcmp(s). The compensation terms, θ cmp M and ω cmp M , account for the effect of the external torque on the system. The transfer function Gcmp(s) in (1) depends on the plant model and control system.

Robust Position Control of End-Effector Considering Gear Stiffness and Arm Stiffness for Industrial Robot