A decoupling control method for industrial robots

Abstract

This paper describes a decoupling control method for industrial robots. Recently, industrial robots require high quality of control and fast response, therefore, interference between arms that has been usually neglected before, must be taken into consideration. In the robot with multijoint control, an arm is generally modeled as a rigid system, however, this model is to be considered a 2-mass system. This paper proposes decoupling control method where an arm is modeled as the 2-mass system. The validity of the proposed method is confirmed by the simulation and the experiment in the 2-link robot.