Abstract
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. Another role is the estimation of discrepancy between the states of the mathematical model and the actual states. Our mathematical model includes the model of the joint flexibility and the nonlinearity. These estimated states are used not only for the vibration repression but also for the compensation of the nonlinearity and the disturbance. Therefore, the controller is robust for the nonlinearity, the disturbance as well as the eigen-oscillation. This robust control algorithm is implemented on digital signal processors, and is applied to actual industrial robot manipulators. Upon experiments, high accuracy and robustness have been confirmed.
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