柔軟関節を持つ非線形ロボットアームのモデル追従制御

抄録

In this paper we study the model following control of manipulators with elastic joints. In the dynamic model of manipulators, the function of the joint flexibility may be nonlinear. A simple design procedure based on the notion of Lie derivative is given. Checking of the involutivity conditions is not required. The nonlinear system will be linearized by the nonlinear state feedback and nonlinear state transformation. We show that the proposed control method can be applied to a broad class of nonlinear functions of the joint flexibility.