Sensor-based decoupling control in a SCARA-type robot (1st report) -Control method-

摘要

In a SCARA-type robot, coupling forces act between the joints. To improve the dynamic behavior and to reduce the time of a working cycle, it is necessary to compensate for the force generated between the joints. The active coupling torque of the arm is expressed by the sum of acceleration-coupling terms due to the nondiagonal element in a inertia matrix and the Coriolis and centrifugal forces. It the exact angular acceleration θ is known, the coupling torque is easily estimated without calculating the complex inverse dynamic mechanics.