Robust Control Method for Industrial Robot Manipulators with Flexible Joints. Application of State Observer and Two-Degree-of-Freedom Controller.

摘要

Current industrial robot manipulators are not accurate while moving fast, due to mechanical eigen-oscillations, nonlinearity, disturbance and so on. This paper proposes a robust control method for industrial robot manipulators with flexible joints, using an observer and a two-degree-of-freedom controller. The observer has two roles. One role of the observer is the estimation of the flexible joint states, to repress the eigen-oscillation.