動的感度解析に基づくロバストコントローラの設計

抄録

Throwing an object by powered robot system is an effective way for object manipulation in long distance. The focus of the throwing is on the accuracy of the landing point with respect to model uncertainties or disturbances. Moreover, the robot system sometimes has zero adjustment error in the initial position on its joint angle. So far, we have proposed a sensitivity analysis method of throwing with a feed-forward/back controlled manipulator. The sensitivity of the landing point with respect to zero adjustment error has been calculated, and the robust throwing with small sensitivity has been designed. In this paper we design robust controller with small sensitivity by optimizing feed-back gain instead of robust throwing motion, and evaluate the effectiveness of the proposed method using a prototyped three-link manipulator.