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 : 第2報, 積分器を有する制御系の非干渉化設計 : 機械力学,計測,自動制御

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. In our previous paper, we have proposed a new adaptive control method for the former motion with vibration suppression of the prismatic joint. Since the method, however, cannot compensate static friction terms, positioning error of the revolute joints may not be permissible when the effect of the static friction is significant. In this paper, we propose a new adaptive control method with integrator for reducing the positioning error. Since the controlled object is modelled as a double-input quadruple-output system, it is difficult to consider both the introduction of integrator and the robustness with respect to estimation error of the mass of the load. To overcome this difficulty, we apply a coordinate transformation by which the controlled object can be dealt with as two single-input double-output systems. We can separately design robust controllers for the two decoupled systems. The effectiveness of the proposed method is demonstrated through experimental results.
2001-05-25