Abstract
The dynamic behavior of present day industrial robots provided with constant parameter controllers is far from optimal, due to the neglect of the intrinsic time varying nature of the configuration by which inertias, gravity and interaction between links continuously change. Several decoupling and adaptive control schemes for robots are described, they put a heavy computational burden upon the control computer which make them extremely difficult to apply in real time. A new approach is presented in the form of a direct compensation method based upon the measurement of the variable load torque acting on the axis drives. This compensation signal acts as input to the controller axis drive and makes the complete system behave like a time invariant system. The method is worked out in the form of a state-space controller which has been successfully implemented and tested on a two arm manipulator test setup.
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