Accurate motion control using improved discrete state variable filtering

Abstract

In order to achieve more accurate motion control of robot joints an improved method using state variable filters of minimal order is presented. Experimental results with a robotic joint with a large time constant are given. Explicit velocity and acceleration controllers were created using the state variable filters. In case of position control, state variable filters are applied to increase the damping of the system. These low level controllers are used in combination with a high level controller, in this case a motion profiler.