Design of the two degrees of freedom robust servosystem and its application to motion control of robot manipulators.

摘要

We propose a new design method on robust servomechanism and apply it to advanced motion control of robot manipulators. Our servomechanism is based on the two degrees of freedom controller. We can specify the command input response and the disturbance response to arbitrary reference models independently by choosing two parameters appropriately. Furthermore, we can eliminate the speed sensor which has been required for the high performance control of robot manipulators. The efficacy of the proposed method is confirmed with some laboratory experiments showing robustness to inertia variation, disturbance suppression and mechanical impedance control performances. This controller realizes complete decentralized motion control of robot joints because we can eliminate all the interference torques caused by the robot motion. We also propose a novel trajectory control method where we solve the inverse kinematics by using the simple Newton method.