Multi-rate Perfect Tracking Control on Manipulators with Elastic Joints

摘要

This paper introduces a novel perfect tracking control method that is designed on MIMO vibration systems such as robot manipulators with elastic joints. Basically, perfect tracking control methdology with multi-rate feedfoward has been presented. We try to apply the techniques to the MIMO vibration systems. As a preparation, we introduce a condition that the control system requires to hold by. Further, the feedback compensators that include observers of which the inputs are the errors of the closed systems are introduced. Moreover, when we need positioning of not motor angle but joint angles directly, we utilize state space expression disturbance observers additionally. Further, design procedures of 2 type feedfoward compensators are presented. One is designed by using rigid models of manipulators and another is designed by using elastic models. Finally, simulation results related to two type of observers and feedfowards are shown.