マルチボディダイナミクスを用いたマニピュレータの非線形制御(機械力学,計測,自動制御)

抄録

This paper describes a modeling and a nonlinear control design method based on multibody dynamics (MBD). Each arm of the robot has seven degrees of freedom, similar to a human arm. The arm is a redundant manipulator, so it is difficult to control the arm generally. It is necessary to derive an accurate model of the arm. It is straightforward to set up three-dimensional equations of motion using MBD. A model for the robot is derived by MBD. We propose two controllers using the MBD model. One is consists of an LQI controller and inverse dynamics. The other one is a nonlinear controller using the structure of the MBD model positively. We tested the effectiveness of our proposed method by experiment. As a result, the tracking performance of the nonlinear controller based on the MBD model was about 18% better than the controller of the LQI controller with inverse dynamics.