最適トラッキング制御を用いた手の移動軌道の制御

概要

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Recently, following the social needs, it is demanded to decide the accurate positioning of manipulator and to make the high - speed operation. However, it is difficult to realize the high - speed trajectory control using the usual servo system because of the dynamic forces and nonlinear properties. Optimal tracking control theory, which is based on the terminal control theory adopting the feedforward input signals, is applied to the articulated robot having the parallel links mechanism. The method of the control theory described above is compared with the conventional state - feedback control (PID control) from the point of view of simulation and experiment in this paper. As the result, it is shown that the hand trajectory of the articulated robot using the optimal tracking control theory is trailing the desired trajectory more accurately comparing with the PID control.
木更津工業高等専門学校の論文