Robust servosystem design with two degrees of freedom and its application to novel motion control of robot manipulators

Author

Umeno, Takaji ; Kaneko, Tomoaki ; Hori, Yoichi

Author_Institution

Dept. of Electr. Eng., Tokyo Univ., Japan

Volume

40

Issue

5

fYear

1993

fDate

10/1/1993 12:00:00 AM

Firstpage

473

Lastpage

485

Abstract

A novel robust servosystem design method based on the two-degree-of-freedom (TDOF) controller and its application to advanced motion control for a robot manipulator is proposed. This servosystem is derived from the simple parametrization. The command input response and the closed loop characteristics can be specified independently by using two parameters which belong to the ring of stable and proper rational functions. The sensitivity and the complementary sensitivity functions can be determined straightforwardly through the optimization of the two design parameters. The control performance of the servosystem has been demonstrated. A completely decentralized joint control system for multiaxis robut manipulators has been realized. In particular, various kinds of robot motion controls, such as compliance, force, and hybrid controls, are realized in a unified way based on the robust position control. This servosystem has been implemented using DSP

Keywords

closed loop systems; decentralised control; manipulators; position control; servomechanisms; DSP; closed loop characteristics; command input response; control performance; decentralized joint control system; motion control; multiaxis robut manipulators; optimization; robot manipulators; robust servosystem; sensitivity functions; two degrees of freedom; Control systems; Design methodology; Design optimization; Force control; Manipulators; Motion control; Robot sensing systems; Robust control; Robustness; Servosystems;

fLanguage

English

Journal_Title

Industrial Electronics, IEEE Transactions on

Publisher

ieee

ISSN

0278-0046

Type

jour

DOI

10.1109/41.238016

Filename

238016