2A1-G04 Experimental study on Motion control of Multi-Joint Robots Based on Basis-Motion Composition

Abstract

We propose a new control method for forming feedforward torque-patterns of robot manipulators. In the proposed method, a feedforward torque-pattern can be composed of several other torque-patterns, which have already obtained by the iterative learning control method. Since the iterative learning control method does not need parameter identification of robot dynamics, the proposed method in this paper means that arbitrary feedforward input torque-patterns are formed without using parameter identification. The effectiveness of the proposed control method is demonstrated by several experimental results.