駆動系に弾性を有するロボットアームのロバストな高速高精度位置決め制御 : 関節角度情報およびモータ角度情報を用いる場合

概要

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Generally, for the position control of industrial robots, the semi-closed-loop control which only utilizes information of the motor angle is adopted, since it contributes to the stability of the controlsystem and does not require a high-resolution encoder. In this method, however, precise positioning cannot be attained because of uncertainty and flexibility of the driving system. Since the cost of a high-resolution encoder has become less prohibitive, direct measurement of joint angle is now possible. In this paper, in order to realize high performance, precision, speed, and robust stability, we propose a control method which utilizes both information of motor and joint angles. The controller is derived from the loop shaping procedure which is based on the H_∞ control theory. Moreover, we introduce 2DOF control to improve tracking performance of the joint angle. Experimental results show that the proposed controller is useful to achieve the desired performance.
一般社団法人日本機械学会の論文
1995-07-25