# Research on Vibration Suppression Method Based on Double Loop Position Feedback Control

## TL;DR

This paper introduces a new control method that reduces vibrations in robotic joints, improving stability and accuracy in engineering applications.

## Contribution

A novel double-loop position feedback control method combining LESO and speed feedforward is proposed for vibration suppression in robotic systems.

## Key findings

- The method reduces speed fluctuations by 84.4% and eliminates steady-state position tracking errors.
- Experimental results confirm significant attenuation of load speed vibration in practical applications.
- The strategy balances semi-closed-loop stability with full-closed-loop accuracy for collaborative robot joints.

## Abstract

What are the main findings?
This study proposes a vibration suppression method combining double-loop position feedback control with a linear extended state observer (LESO) and speed feedforward.Simulation results demonstrate that the method effectively suppresses mechanical resonance (reducing speed fluctuations by 84.4%) and eliminates steady-state position tracking errors.Experimental verification on a collaborative joint platform further confirms that the proposed strategy significantly attenuates load speed vibration and validates its feasibility in practical engineering applications.

This study proposes a vibration suppression method combining double-loop position feedback control with a linear extended state observer (LESO) and speed feedforward.

Simulation results demonstrate that the method effectively suppresses mechanical resonance (reducing speed fluctuations by 84.4%) and eliminates steady-state position tracking errors.

Experimental verification on a collaborative joint platform further confirms that the proposed strategy significantly attenuates load speed vibration and validates its feasibility in practical engineering applications.

What are the implications of the main findings?
The proposed strategy successfully balances the stability of semi-closed-loop control with the high accuracy of full-closed-loop control for collaborative robot joints.It provides a practical engineering solution for mitigating nonlinear effects (elasticity and backlash) in harmonic-reducer-based servo systems.

The proposed strategy successfully balances the stability of semi-closed-loop control with the high accuracy of full-closed-loop control for collaborative robot joints.

It provides a practical engineering solution for mitigating nonlinear effects (elasticity and backlash) in harmonic-reducer-based servo systems.

Aiming at the problem that the position control accuracy of the traditional semi-closed-loop control and the vibration caused by the nonlinear characteristics of the system are easily affected by the full closed-loop control, a double-loop position feedback control based on the state information feedback of the motor and the load is proposed. Based on the double-loop position feedback control framework, a vibration suppression method combining the linear extended state observer, torque feedback compensation and speed feedforward is introduced. The simulation results show that the proposed control method effectively suppresses load vibration, improves the system’s servo control performance, and maintains position control accuracy.