Abstract
PD-Tyre Two-Stage Robust Tracking Control System for robot manipulators was proposed by Osuka et. al. in 1988. This controller has the following properties.
(a) The desired trajectory can be specified.
(b) The control accuracy can be specified.
(c) The convergence characteristics of initial error can be specified.
(d) The robustness to modelling errors and to measurement noises is ensured.
(e) The structure of the controller is simple.
In this paper, we applied the controller to DAIKIN Miniature Robot, and showed the effectiveness of the structure of Two-Stage Control Scheme with some experimental results. However, since the miniature robot has an undesirable property such as a magnitude of measurement noises in angular velocity is so big, we had to solve a few technical problems in order to design the controller for even such a special robot. Therefore, in the final part of this paper, we considered a way to overcome those problems.
