状態方程式の厳密な線形化によるアーム付きモーターの一制御法

抄録

In recent years, PM motors are used as robot arm actuators. By the way robot arm has nonlinear load torque related to position angle. To get accurate and speedy control, simple rules are needed. Exact linearizing technique gives linearized state equations directly from original state equations. But it has singular points at start and destination of arm. Combining decoupling control singular point disappear from state equation, and all the state space becomes controllable.