Abstract
The application of industrial robots to advanced manufacturing tasks requires highly accurate position and/or force control. Actual limitations to these requirements are mainly caused by elasticity, Coulomb friction and backlash in the system. Conventional control algorithms do not consider these effects and can hardly provide sufficient control accuracy or yield limit cycles. In this paper the common multibody approach of models of industrial robots is extended to derive more realistic models including elasticity of both joints and links, Coulomb friction and backlash. For the rotatory motion of an elastic robot arm with a revolute joint an algorithm for a highly accurate position control is developed based on (i) multi-layer control to damp quickly the elastic motions "separately" from the rigid-body motion of the robot, and (ii) compensation of Coulomb friction and backlash by the method of disturbance rejection control. In contrast to the very successful results in case of rotatory motion, the modelling and a suitable design of a control system for the translational motion of an elastic arm with a prismatic joint is a much more difficult Problem. A complex control system is obtained represented approximately by a set of ordinary linear time-variant differential equations of vanable order depending on the actual arm length driven out. Certam approaches of designing a feedback control are discussed.
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