線形近似モデルによるロボットのH_∞制御

概要

論文の詳細を見る
Dynamic models of mechanical manipulators consist of highly nonlinear coupled second-order differential equations. Linear time-invariant control laws which utilize the linear model of robot dynamics are often used for industrial robots because of the simplicity of the control algorithms. However, due to the fact that nonlinearity is not considered and uncertainity exeists in the manipulator models, linear time-invariant control schemes cannot achieve satisfactory control performance. Therefore, a control scheme which is robust against the errors caused by the linerization procedure is required. In this paper we propose an H_∞ control approach to the position control of the manipulator. The H_∞ controller is linear and time-invariant and it guarantees the closed-loop robustness against the modeling error. Simulations and experiments on the two-link direct-drive manipulator demonstrate the effectiveness of the proposed H_∞ control scheme.
一般社団法人日本機械学会の論文
1993-10-25