Inertial Fluctuation-Insensitive Robust Control of a Robot Manipulator Based on a Combination of an Inertial Torque Computation Filter and H_∞ Control

摘要

This paper describes a new type of robust control of robot manipulators, which guarantees robust stability against fluctuation of the inertial matrix. In this control, the inertial matrix is calculated as the computed torque from the Newton-Euler formulation. As a result, the cutoff fre- quency of the sensitivity function can be set much higher than in conventional control systems such as disturbance observer-based decentralized robust control system.