High performance robot motion control based on zero phase error notch filter and D-PD control

Abstract

This paper proposes a new motion control strategy for industrial robots. It is important for industrial robots to regulate the motion of robot on condition of high speed and high accuracy. However, an industrial robot often has the vibration phenomenon which is generated by the resonant frequency and the nonlinear interference force from the other joints of robot. In order to overcome these problems, at first, this paper proposes a new zero phase error notch filter which has no phase error for the fast path tracking reference. Next, this paper proposes a new fast position control method based on D-PD control with dynamic torque compensation. Using these methods, this paper realizes the fast accurate robot motion control without vibration phenomenon and overshoot. The experimental results confirm that the proposed control method well regulates the fast accurate path tracking control smoothly and rapidly.