Abstract
The authors have so far proposed the multivariable servomechanism with the function autonomously to generate the trajectory according to the nominal path for the purpose of the trajectory control of a manipulator. We call it Autonomous Trajectory Generating Servomechanism (ATGS).
The paper deals with the analysis of the stability condition of the parameters in ATGS and the characteristic improvement of the trajectory generated by ATGS for raising the stability and the accuracy of the trajectory.
At first, the fundamental algorithm of ATGS is formulated in general. Then, the stability analysis on both the continuous data and the discrete data ATGS is given based on the formulation. By the results of the analysis, we showed the stability condition of the parameters in ATGS as the chart.
Next, we introduced P-D control to ATGS as the strategy to improve the trajectory characteristics and analyzed the effects on the trajectory stability and accuracy. By the analysis, it is clarified that P-D control can raise the stability and the accuracy.
However, from the point of view to clarify the fundamental features of ATGS, we analyzed limitedly the characteristics for the planary trajectory assuming that ATGS was to be applied to the trajectory control of the Cartesian type manipulator.
