An Inertia Fluctuation Insensitive Robust Control of Robot Manipulators Based on a Combination of Inertia Torque Computation Filter and H_∞ Control

摘要

This paper describes a new robust control of robot manipulators, which guarantees the robust stability against fluctuation of inertia matrix. In this control, the inertia matrix is calculated as computed torque from the Newton-Euler formulation. As the result, the cut-off frequency of the sensitivity function can be set much higher than one of conventional control systems such as disturbance obse3rver based decentralized robust control system.