Robust Control System Design for Robot Motion Regeneration under Disturbance Input

摘要

In this paper, the authors propose a method to easily recognize and reproduce the robot motion made by an operator. This method is targets for applications similar to painting and welding, and it is based on a process of that identifies a family of plants, by control design and by conducting an experimental evaluation. In this study, the models and controllers for all joints of 3DOF robot system are obtained individually. And a robust control system for motion control of the individual joints is designed based on <TEX>$H_{\infty}$</TEX> control framework. An experimental comparison is made between the proposed control method and existing PID control method. And the results indicate that the proposed designing method is more efficient and useful than conventional method.