Mode Shape Compensator: A Method of Improving Robustness of Manipulator Mounted on Flexible Base

摘要

In this paper, a task space feedback control is considered for a flexible-base-mounted manipulator. Based on the positive realness of the transfer function matrix, we have defined 'Robust arm configuration' (RAC) where the system is passive. On the RAC, a high gain task space control is realized. Measuring the flexible deformation is not necessary. We propose a mode shape compensator which improves the robustness for the arm configuration out of the RAC. The compensator consists of a constant gain matrix and acceleration of each joint. A numerical example and experiment are presented.