Abstract
This paper presents a fast and exact trajectory control scheme for articulated robot arms with elastic joints due to reduction gears. This scheme provides a practical solution for sophisticated motion control of general industrial robots using motor-side measurements only. We previously proposed a torsion-angular velocity feedback (TVFB) scheme for suppressing residual vibration in the tip of a 2-DOF robot arm, using a physically parameterized nonlinear observer. To execute exact trajectory control, we also combined a feedforward scheme based on a rigid-joint model with TVFB, due to the complexity of implementing feedforward based on an elastic-joint model. TVFB suppressed arm-tip vibrations caused by feedforward mismatch between the rigid- and elastic-joint models. In this paper, we extend the scope of the combined scheme to a 6-DOF industrial robot. We implement a real-time controller with complete direct and inverse dynamic models for the feedback and feedforward. The effectiveness of our approach was successfully validated in several experiments.
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