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 : 階層的設計方式の適用 (<小特集>ロボットの知能化)

概要

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Generally, for the position control of industrial robots, a semi-closed-loop control which only utilizes information of the motor angle is adopted, since it contributes to the stability of the control system 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 is generally no longer prohibitive, direct measurement of joint angle is now possible. In order to realize high performance, precision, speed, and robust stability, we propose a control method which utilizes information of both motor and joint angles. The controller is derived from a hierarchical design method which is based on the H_∞ control theory and proposed in this paper. Moreover, we introduce a 2 DOF control in order to improve tracking performance of the joint angle. Experimental results show that the proposed controller is useful for achieving the desired performance.
社団法人日本機械学会の論文
1996-10-25