慣性トルク計算フィルターとH_∞制御を組み合わせた慣性変動に不感なロボットマニピュレータのロバスト制御 [in Japanese] An Inertia Fluctuation Insensitive Robust Control of Robot Manipulators Based on a Combination of Inertia Torque Computation Filter and H.INF. Control. [in Japanese]
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This paper describes a new robust control of robot manipulators, which guarantees the robust stability against fluctuation of inertia matrix. In this control, the inertia matrix is calculated as computed torque from the Newton-Euler formulation. As the result, the cut-off frequency of the sensitivity function call be set much higher than one of conventional control systems such as disturbance observer based decentralized robust control system.
- IEEJ Transactions on Sensors and Micromachines
IEEJ Transactions on Sensors and Micromachines 117(4), 493-500, 1997-04
The Institute of Electrical Engineers of Japan