Robust motion control with consideration algorithm of joint torque saturation for redundant manipulator

摘要

As each joint actuator of robot manipulator has a limit value of torque, the motion control system, should consider the torque saturation. In order to consider the torque saturation in transient state. this paper proposes a new redundant motion control system. using the autonomous consideration algorithm on torque saturation. Jacobian matrix of redundant robot manipulator can select the optimal one considering it's motion energy in steady state. When the motion control system carries out the fast motion and the quick disturbance suppression, the high joint torque is required in transient state. In the experimental results, on condition of having a large payload torque and a fast motion reference, the proposed redundant manipulator control well realizes the quick; robot motion robustly and smoothly.