구동력 계산법 및 H∞ 제어를 병용한 직접구동방식 머니퓰레이터의 궤적제어

Abstract

Computed torque method has been used for precise trajectory control of the robotic system that involves nonlinear dynamics. It is hard to know exact values of robot system parameters, and the robot arm receives unpredictable interference from the working environment. These disturbances, especially in a direct drive robot, are directly transmitted to actuating motor without reduction. Modelling error and disturbance can cause significant errors in a trajectory tracking problem. In this paper, we propose a new controller that H∞ controller is combined to robot system linearized by computed torque. Simulations are made for comparing the performance of the proposed controller with that of a nonlinear H∞ controller proposed by Chen and also computed torque method.