振動抑制および高速軌跡追従を考慮した産業用ロボットのモーション制御法

概要

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This paper proposes a new motion control strategy for industrial robots. It is important to achieve rapid and accurate control of the motion of industrial robots. However, industrial robots often have vibration which is caused by the resonant frequency and nonlinear interference force from various joints of the robot. In this case, the notch filtering method for generating a reference is useful for suppressing the resonant phenomenon. However, the path tracking error of the robot motion increases because phase delay becomes large by using the notch filter.In order to overcome these problems, this paper proposes a zero-phase notch filter without phase delay for fast path tracking. Moreover, this paper proposes a fast position control method based on D-PD control with dynamic feed-forward compensation. Using these proposed strategies, this paper achieves fast and accurate robot motion control without vibration and overshoot.
2010-03-01