Model identification for perfect tracking control of PA10 robot arm with joint velocity servo driver

摘要

This paper presents a model identification method for the PA10 robot arm to achieve perfect tracking control by using the joint velocity servo driver supplied by the robot vendor. Although conventional tracking control schemes assume that the robot arm is torque-controllable, not all servo drivers are capable of controlling the joint torques. Furthermore, in torque control, joint friction must be compensated completely, though that is an extremely difficult problem. To deal with the problems, this paper attempts to realize perfect tracking control by controlling the joint velocities. To design the tracking controller based on joint velocity control, we need the plant model of the joint velocity servo driver, which is, however, unknown in most cases. Thus, this paper addresses how to identify the plant model of the joint velocity servo driver. Specifically, this paper presents a model identification method for the PA10 robot arm.