Pole Placement Methods for Multivariable Control of Robotic Manipulators

Abstract

In current industrial practice an independent servo loop is used for the control of each joint of a robot arm. Dynamic coupling among subsystems as well as changes in the effective loading are either neglected or cancelled by feedforward compensation. These dynamic effects are often significant enough to cause the motion to be jerky and uncoordinated when they are neglected. In this paper efficient methods for multivariable control of robotic manipulators based upon pole placement by state feedback are presented as an improved method of path control. An example of the computations for a three-link robot arm and computer simulation experiments are given.