A Decoupling Control Method for Two Link Manipulator

In this paper, we propose a new decoupling control method that based on conventional control technique for each axis. This method realizes the decoupling control by not using a complex system but adding a compensation control input to offset interference. Recently, industrial robots that have multiple joints manipulators are required high speed and high precision response. Therefore, the decoupling control is necessary to offset the interference that arises between each joints of the manipulator. At present, when we think about the manipulator with 2-inertial system we must build the complex system to realize generally decoupling control. Because of that, it is said that the decoupling control is difficult. However, we think it is possible for any people to realize decoupling control more easily without thinking about a complex system construction by using our propose method. At present, we confirm the validity of the proposed method by the simulation.