関節トルク情報を用いたロボットアームの振動制御 : スカラ形アームの場合

抄録

Flexibility in the joint driving system produces vibratory behavior in the motion of a robot arm. This decreases the quality and efficiency of tasks executed by a robot arm. This paper examines three kinds of vibration control method using joint torque feedback from the viewpoint of the closed loop eigenvalues and time responses. The angle of departure of the eigenvalue-loci with respect to torque feedback is also discussed. It is shown from control experiments and theoretical analysis that the simple control method proposed in this paper gives satisfactory results.