High Accuracy Control of Industrial Articulated Robot Arms with Trajectory Allowance Under Torque and Speed Constraint

摘要

High speed and high accuracy control performance is required for industrial robot arms. The research is aimed at high accuracy control of industrial articulated robot arms with trajectory allowance under torque and speed constraint. The proposed method is based on nonlinear separation, separating the nonlinear static parts and linear dynamic part. Controller was constructed for separation of trajectory generation and taught data generation and it can be achieved perfect performance under the speed and torque constraints of the hardware of the robot arm. The effectiveness of the proposed method was assured by experimental results of an actual articulated robot arm.