Deadbeat Feedforward Compensation with Frequency Shaping of Position Feedforward Controller

摘要

Fast and precise positioning is one of the key requirements for improving the productivity and quality of industrial robots. Many feedforward compensation techniques for 2-degree-of-freedom control systems have already been proposed to realize high-performance positioning. These feedforward compensation techniques can be categorized into two types: 1) point-to-point control and 2) continuous path control. The author has already proposed a deadbeat feedforward compensation technique under the former category, which can ensure the specified settling time for a step reference and can suppress the vibration mode in a mechanical system. In the present study, we enhance the previous method in order to consider continuous path control by applying additional cost functions for gain and phase characteristics.The effectiveness of the proposed approach is verified using an experimental setup.