Decoupling Control of 2-Link Manipulator by Using Model Following Control

摘要

In this paper, a new simple decoupling control scheme with a model following control is proposed for 2-link industrial manipulators. Based on a coupling model, we design a compensation torque to eliminate the coupling force between two links of a manipulator in a feed-forward controller and employ observers to estimate unmodelled dynamics errors and external disturbances. Making use of the estimations, this proposes a compensation method for unmodelled errors and external disturbances to ensure the robustness of the designed control system. Effectiveness of the proposed decoupling control scheme has been confirmed through some simulation results.