1996 年 1996 巻 3 号 p. 195-200
In this research work, we are studying the accurate trajectory control at the end of a 6-axes hydraulic manipulator regarding r obustness with respecto changes in the system parameters that has unstable characteristics. In particular, interference in the var ious axes becomes important for improving the accurate trajectory control, and disturbance estimation and compensation by an observer are applied and evaluated by independent servo-system for each joint. As a result, it was verified by experimenthat robust, stable accurate trajectory control can always be achieved against fluctuations in the moment of inertia caused by changes in the attitude of the manipulator, and against the nonlinear disturbances, such as axis interference, that are characteristics of a multi-jointed arm.
