ロボットマニピュレータのロバストな軌道追従制御

抄録

In this paper, we propose a robust control scheme which achieves trajectory tracking with prescribed accuracy for robot manipulators with bounded unknown parameters. This scheme is based on Lyapunov stability theorem, and the Lyapunov function is constructed using the intertia matrix. Therefore, the control law takes a very simple form which does not include the inverse of the intertia matrix. Moreover, based on the assumption that the dynamic equation can be expressed as a sum of products of unobservable matrices which contain unknown parameters and observable state vectors, this scheme makes the best use of observable states. Due to this we can expect smaller control gains. Finally, the effectiveness of the proposed control sheme is shown by numerical simulations and experimental results using a 2-degree-of-freedom manipulator.