加速度情報を用いたロボットアームの制御 : 駆動系の弾性を考慮した解析および実験

抄録

Flexibility and torque ripples in the joint driving system produce 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 methods using acceleration feedback from the viewpoint of the closed loop eigenvalues and time responses. The angle of departure of the eigenvalue loci with respect to acceleration feedback is also discussed. It is shown from control experiments and theoretical analysis that the simple control method using only one accelerometer gives satisfactory results for the SCARA-type arm.