Multi-variable control of robot manipulators

摘要

Since manipulators are highly nonlinear, coupled multi-variable systems, multi-variable control approach is necessary in principle for high speed and accurate operation of manipulators. Multi-variable control approaches to robot manipulators are outlined. Then decoupling control, which is one of the multivariable control approaches, of hydraulically driven robots is described. A construction method of an autonomous contouring control system is explained for a two-joint hydraulic robot.