TIME DELAY CONTROL WITH GRADIENT ESTIMATOR FOR ROBOT MANIPULATOR AND ROBOT MANIPULATOR CONTROLLER USING THE SAME

摘要

PURPOSE: A time delay control method using gradient estimation for a robot manipulator and a controller of a robot manipulator using the same are provided to restricts the influence of nonlinear friction without chattering in tracking response by effectively compensating a time delay estimation error. CONSTITUTION: A time delay control method using gradient estimation for a robot manipulator under nonlinear friction is as follows. The torque of an actuator of a robotic manipulator is expressed by an equation that includes an estimated gradient for compensating a time delay estimation error. The estimated gradient functions as a high-pass filter for a time delay estimation error.