Robust Control of High-Speed Precise Positioning of Robot Arm with Flexible Drive System. The Case of Utilizing Both Information of Joint and Motor Angles

Autor:	Masahiro Nishina, Junji Furusho, Akihito Sano
Rok vydání:	1995
Předmět:	Engineering Automatic control business.industry Mechanical Engineering Robotics Control engineering Servomechanism Industrial and Manufacturing Engineering law.invention Mechanics of Materials Control theory law Robot Artificial intelligence Robust control business Robotic arm Encoder
Zdroj:	TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C. 61:3032-3038
ISSN:	1884-8354 0387-5024
DOI:	10.1299/kikaic.61.3032
Popis:	Generally, for the position control of industrial robots, the semi-closed-loop control which only utilizes information of the motor angle is adopted, since it contributes to the stability of the controlsystem and does not require a high-resolution encoder. In this method, however, precise positioning cannot be attained because of uncertainty and flexibility of the driving system. Since the cost of a high-resolution encoder has become less prohibitive, direct measurement of joint angle is now possible. In this paper, in order to realize high performance, precision, speed, and robust stability, we propose a control method which utilizes both information of motor and joint angles. The controller is derived from the loop shaping procedure which is based on the H∞ control theory. Moreover, we introduce 2DOF control to improve tracking performance of the joint angle. Experimental results show that the proposed controller is useful to achieve the desired performance.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::da5dd9f9b6a409745e29f4be4225b371 https://doi.org/10.1299/kikaic.61.3032 Zobrazit plný text záznamu