Manipulator Motion Control using only Position Information.

Abstract

This paper proposes the fast motion control of robot manipulator based on the new acceleration controller. This acceleration controller constructed by using mixed sensitivity problem of H∞ control. The proposed acceleration controller discusses the frequency performance taking sensor noise effect and disturbance rejection into account systematically. This acceleration controller is simple and robust. Moreover, this paper proposes the new fast motion controller based on H∞ acceleration controller. This new fast motion controller is realized by using only information of position, and it makes the multi-degrees-of-freedom motion control system more simple. In this paper, the proposed controller is constructed by the software algorithm of DSP. The experimental results show that the proposed control is valid for motion control of three-degrees-of-freedom robot manipulator.