マニピュレータの動的制御の階層化に関する研究

抄録

In this paper we propose a hierarchical structure of controllers for robot manipulators which allows real time computation of the dynamic control. In this method, the computation of the dynamic control is separated into two levels. In the upper level, mainly the inverse dynamics and the desired trajectory are computed at a low sampling frequency. In the lower level, the computation for servo control is done at a high sampling frequency. Since the dynamic control and the servo control are separated clearly and the control structure is very simple, this method is expected to be useful for practical purposes. The computational amount at each level is estimated for n-degree-of-freedom manipulators. Finally, the effectiveness of the proposed method is shown by some simulation and experimental results using a 2-degree-of-freedom planer manipulator.