Low sensitive position control system based on the two-degree-of-freedom control method for 2-link SCARA type direct drive robot manipulator

摘要

This paper describes two different type positioning system which satisfy with not only a high tracking performace but also a robustness for disturbances. The one of proposed systems consists of an adaptive feedforward controller (AFC) and a fixed gain proportional and integral controller. The other system consists of a fixed gain feedforward controller and an utmost compensation type controller of 1-type. Both systems are the feedforward type two-degree-of-freedom control systems. The 2-link SCARA type direct drive robot manipulator, including highly nonlinear dynamics, is the most suitable control object to confirm the effectiveness of the proposed system. Therefore, responses of these positioning systems are measured by using the 2-link SCARA type direct drive robot manipulator. As a result, it is experimentally confirmed that the tracking performance can be improved and insensitive to disturbances and parameter variations of the plant.