High Accuracy Positioning in SCARA-Type Robot by Sensor-based Decoupling control

摘要

To compensate for the effects of coupling torqueand load variations experimenced in SCARA-type robots, wepropose a new method of sensor-based decoupling control. In thismethod the plant is first nominalized with the use of adisturbance observer and then nonlinear feedback control isaccomplished by this nominalized system based on informationfrom acceleration sensors installed at the end of the robot hand.As a result of hgih-speed reciprocal motion with a payload of 10kg mounted on the hand, we were able to achieve satisfactorydecoupling using this method. Improvements were also make insteady-state characteristics.