ゲイン適応によるフレキシブルロボットアームのひずみ直接フィードバック制御

概要

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In the last several decades, much attention has been paid to the dynamics and control of flexible robot arms. Although various model-based control methods such as optimal control, and robust control were shown to be applicable for the control of flexible arms, it is usually difficult to implement such controllers due to the complexity and the sensitivity to parameter uncertainties in the dynamic model of the arms. A simple control strategy called direct strain feedback (DSFB) was proposed by the first author. This control method guarantees stability of the closed-loop feedback system under arbitrary tip load variations and other parameter uncertainties. However, performance (e. g. , transient responses) may degrade significantly due to large tip load variations of flexible arms which are often encountered in object handling. In order to maintain high performance, we propose to adaptively tune the strain feedback gain in DSFB. Unlike the well-known model reference adaptive control, a simple adaptive gain tuning method is given in this paper, and the stability of the closed -loop system is verified. Experiments were conducted to demonstrate the effectiveness of the proposed gain adaptive DSFB control method.
一般社団法人日本機械学会の論文
1993-10-25