JOINT ACCELERATION FEEDBACK CONTROL FOR DIRECT DRIVE ROBOT DECOUPLING

Abstract

The link couplings of a multi DOF DD robot always act as a kind of torque disturbances.Joint acceleration feedback control based on sensed acceleration information will help to resist such coupling effects and improve the joint tracking performance.In this paper,linear accelerometer is used to sense the rotatory joint acceleration and a model is given to describe the sensed open loop resonance,and design criteria for stable and functional control law are also proposed.Extensive experiments are conducted on a threelink DD robot and the results are presented to validate the analyses and demonstrate the improvements benefited from the proposed method.