On the Dynamics and Control of Robotic Manipulators with an Automatic Balancing Mechanism

摘要

Non-linear characteristics and uncertainty in manipulator dynamics caused by payload effects are major hurdles in controller design. To overcome such hurdles the authors have introduced an automatic balancing concept which has been proved to reduce the non-linear complexity in manipulator dynamics as well as to remove gravity loading. This paper examines the characteristic features of balanced manipulator dynamics in more detail and presents an efficient control algorithm suitable for the dynamics. Since the dynamics of a balanced manipulator are characterized by partially configuration-independent inertial properties, the present algorithm adopts two different control concepts ‘the computed torque control’ for the joint having coupled, configuration-dependent inertia and ‘an optimal constant feedback control’ for the joints having configuration-independent inertia. To evaluate the proposed control algorithm, simulation studies were made over a wide range of manipulator speeds and payloads. Based upon the simulation results, the efficiency of the controller is discussed in detail.