Robust robot manipulator control with autonomous consideration algorithm of torque saturation

摘要

As each joint actuator of a robot manipulator has a limit value of torque, the motion control system should consider the torque saturation. Conventional motion control based on robust acceleration controller cannot consider the torque saturation and it often causes an oscillated or wrong response. This paper proposes a new autonomous consideration method of joint torque saturation for robust manipulator motion control. The proposed method consists of three on-line autonomous algorithms. These algorithms are the torque limitation algorithm in joint space, the adjustment algorithm of motion control in Cartesian space, and the adjustment algorithm of motion reference in Cartesian space. The robot motion control using the proposed algorithms realizes smooth and robust robot motion response.