Motion Control of Robot Manipulators by Joint Acceleration Controllers

概要

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This paper proposes a simple and high performance motion control method of robot manipulators in task-oriented coordinates. In the proposed method, it is necessary that each joint generates the specified acceleration by the controller of each joint. To extend the result to multi-degrees-of-freedom robot manipulators, the acceleration tracing orientation method (ATOM) is obtained. The ATOM is a controller design method in task-oriented coordinates. High performance position controller and hybrid position/force controller are easily realized by the ATOM. From the analyses of the controllers, it is known that the precise acceleration controller is the key to improve the performance of the ATOM. The realization of the strict acceleration controller, however, is almost impossible by using the conventional disturbance compensation methods. For example, the inverse dynamics has complicating calculation and is weak against parameter variations. A resent research about disturbance observer enables the realization of the acceleration controller. Contrary to the inverse dynamics, the observer is simple and robust against parameter variations. High performance acceleration controller is realized by the disturbance observer. The effectivness of the ATOM is shown by some experiments of a three-degrees-of-freedom robot.
一般社団法人日本ロボット学会の論文