Robust Design of Independent Joint Controllers with Experimentation On a High-Sped Parallel Robot

摘要

The dynamci model of a robot manipulator is described by a set of nonlinear, highly coupled differential equations. Model-based control schemes were proposed to enhance tracking capabilities with respect to simple linear con- trol schemes. Independent joint controllers (of PD or PID type) are usually employed in industrial robot manipulators but can- not achieve satisfactory performance due to their inherent low rejection to disturbances and parameter variations. In this paper, a new linear independent joint control scheme is pro- posed; the design is made robust by closing another feedback lop that uses acceleration information besides the typical posi- tion and velocity loops.