2自由度ロバストサーボ系による多軸マニピュレータの運動制御

概要

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The computed torque method has been regarded as a typical one for the control of manipulators. This method, however, not only requires a tremendously complicated calculation but also cannot avoid the performance degradation due to various parameter changes.<BR>This paper proposes the decoupling control method by applying the two degrees of freedom robust servo system to each axis, with which not only the interference forces but also system parameter variations can be strongly suppressed. By using this as the each axis position controller, the trajectory control only by using position command can be realized, and hence algorithm and calculation cost become very simple. Besides, almost all sorts of control system, that is impedance control, compliance control, force control, and hybrid control can be systematically and easily realized based on the trajectory control system.<BR>All the control systems proposed here are implemented centered about DSP and successfully experi-mented through the life-size six-axis manipulator.