速度計測の不確かさを考慮した2自由度DDロボットの位置制御

概要

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For the direct-drive robot, many excellent characteristics such as quick operation, high positioning accuracy and an application to force control are expected, but shortage of mechanical damping, difficulties of decoupling, effects of centrifugal force, Coriolis force and change of inertia become serious problems. These problems will be solved by using velocity feedback and a linearizing compensator on the premise that it is possible to obtain the velocity of the robot arm accurately. However, it is difficult to measure the velocity of the direct-drive robot accurately as compared with other types of robots. With these points as a background, this paper proposes a design method of a two-degree-of-freedom direct-drive robot control system by which the required accuracy of velocity measurement can be determined for positioning accuracy from the view point of sensitivity and robust stability. The validity of this design method is confirmed by experiments with a direct-drive robot.
一般社団法人日本機械学会の論文
1991-04-25