適応極配置によるスカラ型ロボットのロバスト制振制御

概要

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SCARA robot motions generally consist of the following two motions : One is horizontally transportation of a load by actuating two revolute joints. The other is vertically transportation of a load by actuating a prismatic joint. This paper deals with an adaptive control for the former motion with vibration suppression of the prismatic joint. The controlled object is modeled as a doble-input quadruple-output system. Firstly, we show a non-linear control method that guarantees a load to be transported to the neighborhood of its desired position. The mass of the load is estimated by the recursive least squares algorithm during the transportation. Then, the dynamics of the robot is linearized at the neighborhood of the desired position of the load. By using the linearized dynamics and the estimated mass, a pole placement controller for the robot is designed. We derive a sufficient condition for robust stability with respect to the estimation error of the mass. Under the condition, a pole placement method for robust performance is also presented. Experimental results demonstrate the effectiveness of the proposed method.
2000-03-25