Motion Control Method of Redundant Manipulator Considering Kinetic Energy and Saturation of Joint Torque

Abstract

Since each joint actuator of robot manipulator has a limit value of torque, the motion control system for robot manipulator should consider the joint torque saturation. If the motion control system does not consider the joint torque saturation, the robot manipulator sometimes becomes uncontrollable. This paper proposes a new motion control method of redundant manipulator considering kinetic energy and saturation of joint torque. The proposed motion control method has a robust speed controller based on H∞control in joint space and a fast position control system based on Zero-Phase Error Tracking control in Cartesian space. In order to consider the joint torque saturation, the proposed motion control system uses both the optimal pesudo inverse Jacobian matrix _??_ considering kinetic energy and the autonomous consideration algorithms of joint torque saturation. In the experimental results, on condition of having a large payload and a fast motion reference, the proposed motion control system well realizes the quick motion response robustly and smoothly, and its tracking response has little torque saturation effect.