Robust Servosystem Design with Two Degrees of Freedom and its Application to Novel Motion Control of Robot Manipulators

摘要

In this paper, we propose a novel robust servosys- tem design method based on the two degrees of freedom (TDOF) controller and its application to the advanced motion control for a robot manipulator. This servosystem is derived from the simple parametrization. It has the remarkable feature that the command input response and the closed loop characteristics can be specified independently by using two parameters which be- long to the ring of stable and proper rational functions. We can determine the sensitivity and the complementary sensitivity functions straightforwardly through the optimization of the two design parameters.