Robust Decoupling Control for Articulated Robot

摘要

In an articulated robot, coupling forces are generated between the joints. To improve dynamic behavior and reduce the work cycle time, it is necessary to compensate for the force generated between the joints. In this paper, robot dynamics are expressed in a linear form by applying a gain scheduling method and then transformed into a discrete form. A simple control algorithm is proposed which can perform the decoupling and the pole assignment simultaneously by using an observer with a disturbance compensation function. The results, based on experiments with a SCARA-type robot, show that the proposed approach can compensate for the coupling force between joints.