ロバスト速度コントローラに基づく多関節ロボットの一モーション制御法

抄録

This paper newly proposes a simple and robust robot motion control method using the robust velocity controller. The robust velocity controller is based on H^∞ control theory, and it is called H^∞ velocity controller. H^∞ velocity controller based motion control method is completely equivalent to the robust acceleration control method using H^∞ acceleration controller, but it has simpler structure. Therefore, the proposed system can realize a fine robot motion control easily. In order to confirm the validity of the proposed method, this paper realizes the hybrid control of position and force for multi-joint robot manipulator. Further, this paper also proposes the simple realization of hybrid control considering the attitude of robot manipulator. This system realizes the hybrid control of position and force of robot manipulator while keeping the perpendicular attitude to the target environment. The experimental results in this paper show that the proposed system have the desired force and position response to the target environment.