Abstract
In this report, we have studied the positional precision of the end effecter regarding robustness with regards to changes in the system parameters of a 6-axis manipulator that has unstable characteristics. In particular, cooperation of the various axes becomes important for improving the positional precision, and the H-Infinity control method is applied and evaluated by an independent servo-system for each joint. With the designed the H-Infinity controller, not only the system would be made to become robust against parameter fluctuations, but also the disturbance effects would be reduced. As a result, it could be verified by an experiment in which robust, stable positional precision could always be achieved against fluctuations in the moment of inertia caused by changes in the attitude of the arm, and against nonlinear disturbances, such as axis interference, that are characteristic of multi-jointed arms.
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