Abstract
This paper is concerned with tracking control including automatic detection of the moving target object, as well as vibration damping control of the tracking object with vibration elements. In the system, in order that the tracking robot tracks the moving target object, 2-DOF control is constructed to the tracking object. Then, in order to damp the vibration of the tracking object, the position feedback controllers without using direct feedback of vibration element are designed by Hybrid Shape Approach. In the case that the position of moving target object is previously unknown, the moving target object is detected by the laser sensor fitted to the tracking object, and the algorithm of Reference Generator proposed in this paper generates the reference for tracking to moving target object. Moreover, Reference Generator outputs the reference which satisfies the limitations of the velocity and acceleration in the used device. The effectiveness of the proposed control system is shown through experiments using an automatic pouring robot.
