Patent ID: 8082083

Claim:
An active method to control the vibrations of an articulated arm consisting of a plurality of segments articulated with respect to each other, by means of an electronic controller, each of these segments being associated to its own actuators, the method comprising the following steps: a) construction of a numerical modal model of said articulated arm, described by modal variables, which is based on a reference model written in the form of the modes of the structure of the arm and is obtained starting from experimental data or from structural models, wherein, in the modal model, state modal variables that describe the system represent the contribution of how each mode of vibrating participates in the overall motion of the arm; b) assignation of gains of said electronic controller, wherein said gains are expressed as a function of the actual position assumed by the articulated arm during the motion, and according to the value of force actually transmitted to the arm by the operator; c) multiplication of said gains by the difference between the reference modal coordinates and those calculated through the modal model starting from directly measured quantities, to determine the control forces to be applied, by means of each of said relative actuators, to the arm or to at least part of the relative segments; d) evaluation of the modal coordinates by means of a states estimator for estimating measurements; e) comparison, in an adder, between the estimated measurements estimated using said modal coordinates and real measurements and correction of the estimate, so the estimate converges on real values; wherein said correction is made by an estimator by multiplying the differences between the real measurements and the estimated measurements by a suitable set of gains.