ロボットマニピュレータ最適制御のための実用的方法 : 第1報, 制御系の構成とディジタルシミュレーション

抄録

Optimal control strategies are very useful in manipulation problems of robots. However, most optimal controls are highly sensitive to plant-parameter variations and disturbances because optimal controls try to pick up exact information from the mathematical models in order to realize the best performance. We recognize that difficulties are involved in exact modeling of plants and prevention of disturbances. Therefore, we need a optimal control method with low sensitivity. The ideas of closed-loop control system design using LQG/TR techniques (linear quadratic Gaussian control with transfer recovery) are discussed in this paper. We combine optimal controls and LQG/TR control into two-degrees-of-freedom control systems to reduce the sensitivities of optimal control strategies. In digital simulations, we obtained excellent results of a two-link manipulator in an optimal time control problem using our method. Some modeling errors and considerable disturbances are allowed in the method. Thus, we can realize good performances in practical manipulation problems using our method.