垂直2関節ロボットの負荷推定と補償制御

抄録

It is widely recognized that the industrial robots used in the production lines or in other engineering fields are installed comparatively higher rated actuators and have higher rigidity than those required, whereas they have too small payload capacity. To achieve high speed drive and accurate positioning under a high payload is indispensable for an advanced industrial robot. In order to increase payload/deadweight ratio without losing high speed driving and accurate control of robots, the nonlinear terms in the equations of motion relating to their load and attitude must be well compensated. The authors have developed and examined two kinds of the load estimation and compensation control method for a vertical-type manipulating robot, which are based on the gravity estimation-compensation and the Fuzzy-set theory. It is confirmed experimentally that although both compensating methods are useful, the Fuzzy theory is much better than the gravity compensation method.