床反力計測に基づく力学同定を用いた柔軟アームを有する産業用ロボットのIDCS制御

抄録

In this paper, a fast and stable motion controller for a robot with a flexible arm using IDCS control scheme is proposed. The IDCS controller scheme, corresponds to a numerical computation of the inverse dynamics of the systems, allows stable high performance control even when the system model is inaccuracy. We can get good simulation model of the robot for the IDCS by estimating inertial parameters using generalized coordinates of the baselink, the joint angles and the external forces information. We applied IDCS with the controller adequate for suppressing vibration: Dual Model Matching (DMM) to the lift table and consider the reference tracking of IDCS with reduction of the vibration of the flexible arm.