Robust position control of end-effector considering gear stiffness and arm stiffness for industrial robot (特集モーションコントロール,計測・センサ応用全般)

概要

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Industrial robot with two-inertia model and resonant vibration suppression by using parameters from resonant identification method are addressed in this paper. By using only D-PD control with vibration suppression scheme for two-inertia model of flexible joint robot, the end-effector position does not perfectly reach the desired position owing to the effect of external force to the elastic arm. However, only gear stiffness parameter of two-inertia model is not enough, the new equivalent spring constant parameter including the stiffness of link and gear of the robot is introduced as the total arm spring constant. The novel load-side disturbance compensation considering total arm elasticity is proposed in this paper. The proposed control system is based on inner-loop vibration suppression feedback control and load-side disturbance suppression which motivates the simple consideration of the elastic joint under external torque. Moreover, the experimental results show the effectiveness of the proposed robust position control of end-effector with disturbance compensation considering total arm stiffness. The experimentation on workspace impedance control with inner-loop disturbance suppression implementing on the three degree-of-freedom (3-DOF) robot manipulator is also presented and discussed. The performance and feasibility of the proposed position control of end-effector is confirmed to apply to industrial robot manipulator without additional device.