A tuning method of servo parameters for a SCARA-type robot with reduction gears: two stage identification and control of a two-link-two-mass system

摘要

A tuning method of servo parameters for a high speed SCARA-type robot with elastic reduction gears is discussed. The robot is treated as a two-link-two-mass system. The tuning method includes a nonlinear-compensation scheme using identified rigid-model parameters and a PID controller design using identified the mechanical-resonance characteristics of the nonlinear-compensated robot.