Variable speed path control of robot manipulator with nonlinear compensation error.

概要

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In this paper, combination of the following three methods are proposed. (1) New trajectory planning, (2) Robust control system and (3) Zero error tracking compensation.New trajectory planning method taking control ability of designed robot manipulator control system into consideration is described. It is made systematically without trial and error method on the basis of the frequency response of the designed control system.Robust control system is applied to path control along with the trajectory planning method. In the robust control system, nonlinear compensation error and interference from the other arms are regarded as being equivalent disturbance signal and compensation action is applied by utilizing estimated value of the equivalent disturbance in discrete-time model. Moreover, zero error tracking compensation which guarantees unity gain and zero phase of the robust control system is added. Parallel drive robot manipulator is taken to be our example to show effectiveness of the combination of the three methods in simulation studies.
公益社団法人計測自動制御学会の論文