DDアクチュエータの力とコンプライアンスのロバスト制御

概要

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This paper proposes the robust force & compliance control of DD actuator based on the new model following acceleration control system without speed sensor. The new model following acceleration control system has the faculty to suppress the state error caused by not only the force disturbance but also the system structure variation completely. The DD actuator controlled by this acceleration control system has only two integral elements, and it has no mechanical system parameter. Therefore, each joint of DD robot manipulator is regulated by the acceleration command ωcmd. This structure is very effective for both the virtual inertia based force control and the virtual impedance based compliance control. Moreover, the hybrid control of force and position is realized by the proposed acceleration control method. In this paper, all of the proposed control systems is constructed by the software algorithm of DSP (digital signal processor) and the microprocessor. The experimental results show that the proposed method is valid for the robust force and compliance control of DD actuator. Using the proposed acceleration control system, the hybrid control of force and position is well regulated in the tested 2-degrees-freedom DD robot manipulator.
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