動力学トルク補償と2白由度制御系に基づく産業用ロボットの高速モーション制御法

概要

論文の詳細を見る
This paper proposes a realization of motion control based on dynamic torque compensation and two-degrees-of-freedom speed control system. In order to suppress the dynamic torque of robot manipulator quickly, this paper constructs the feedforward torque compensation method based on inverse dynamics calculation on each joint control system.Moreover, the proposed joint control system is constructed by the robust control system based on the state feedback, PI speed controller and feedforward controller.The proposed method can suppress the influence of inertia variation and torsional vibration of joint system quickly and completely.The simulation results and experimental results show that the proposed system well regulates the motion of multi-joint robot and suppresses the torsional vibration.
社団法人電気学会の論文
2003-05-01