計算トルク法に基づく2自由度柔軟リンクロボットアームの位置制御

抄録

Our group has already studied a position control system for flexible link robot arms. The control law of this method is natural extension from the computed torque method for a rigid link robot arm. It is not limited within operating range which can be regarded as a linear system. In addition, it does not require a switching like an input used in a sliding mode control. However, we need to consider the modeling error because this method uses the model based control. In this paper, we propose a new position control of 2DOF flexible link robot arms based on computed torque method. In addition, we theoretically investigate the stability of the proposed method. Moreover, we propose a simple adaptive identification method in order to decrease the modeling error. The validity of the proposed scheme is illustrated by the theoretical analysis and experimental results.