Title :
Control of robot arms using joint torque sensors
Author :
Zhang, Guoguang ; Furusho, Junji
Author_Institution :
Dept. of Comput.-Controlled Mech. Syst., Osaka Univ., Japan
fDate :
2/1/1998 12:00:00 AM
Abstract :
Describes a basic study of vibration control, disturbance rejection, and friction compensation in robots with flexible drive systems. First, the system gain characteristic at the antiresonance frequency is introduced to evaluate the vibratory behavior of the control system. Secondly, joint torque negative feedback is discussed. While it is shown that joint torque negative feedback has a good effect on vibration suppression, the property of disturbance rejection is easily deteriorated when a high-gain joint torque feedback is used. Based on the assignment of pole-distribution, the relationships between vibration suppression and disturbance rejection are analyzed. Thirdly, a feedforward compensation control based on a friction observer is proposed. It is shown that the tracking error is effectively decreased by this friction compensation
Keywords :
compensation; feedback; feedforward; friction; manipulators; observers; pole assignment; position control; torque control; vibration control; antiresonance frequency; disturbance rejection; feedforward compensation control; flexible drive systems; friction compensation; friction observer; gain characteristic; joint torque negative feedback; joint torque sensors; pole-distribution; robot arms; tracking error; vibration control; vibratory behavior; Drives; Frequency; Friction; Manipulators; Negative feedback; Robot control; Robot sensing systems; Sensor phenomena and characterization; Torque control; Vibration control;
Journal_Title :
Control Systems, IEEE
