Accurate motion regeneration technique with robust control approach

摘要

In this paper, the authors propose a new method of easily recognizing and regenerating robot motions used for robot motion control to perform the task of painting furniture and welding parts in small scale industries. The method is based on the process of accurate modeling, control design and experimental evaluation. In this study, the models and controllers for all joints of 3DOF robot system are obtained individually. The Robust control controller is designed to cope with uncertainties, especially the effects of the added inertia moment. In the experiment, the robust control method is compared with the existing PID control method, and the results indicate that the proposed designing method is more efficient than the traditional method.