This paper proposes fast motion control of a robot manipulator based on a robust acceleration controller. This acceleration controller is constructed using a mixed sensitivity problem in H∞control. The paper discusses the frequency performance taking sensor noise effects and disturbance rejection into account systematically. Moreover, this paper realizes a fast continuous path tracking control system based on the H∞acceleration controller. This control system is constructed using only position information, and it makes the multi-degrees-of-freedom motion control system simpler.
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