設計レス非線形状態オブザーバに基づく弾性関節ロボットアームの振動抑制制御

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門

発行日: 2015/05/01

タイトル(英語): Vibration Suppression Control of Elastic-Joint Robot Arm Based on Designless Nonlinear State Observer

著者名: 大明　準治（(株) 東芝 生産技術センター），足立　修一（慶應義塾大学 理工学部 物理情報工学科）

著者名(英語): Junji Oaki (Corporate Manufacturing Engineering Center, Toshiba Corporation), Shuichi Adachi (Department of Applied Physics and Physico-Informatics Faculty of Science and Technology, Keio University)

キーワード: システム同定，2慣性系，非線形オブザーバ，軸ねじれ速度フィードバック，2自由度PI制御系，ゲインスケジューリング制御　　system identification，two-inertia system，nonlinear observer，torsion-angular velocity feedback，two-degree-of-freedom PI controller，gain-scheduling control

要約(英語): The purpose of our study is to achieve dynamic model-based control of a nonlinear elastic-joint robot arm. We previously proposed a plug-in feedback scheme for vibration-suppression control of a serial two-link robot arm with joint elasticity due to a Harmonic-drive gear. The serial two-link arm simulates the 1st and 2nd joints of the SCARA-type robot or the 2nd and 3rd joints of the PUMA-type robot. In order to suppress the arm-tip vibration of both robot types, it is important to control the basic two-link arm. We proposed a torsion-angular-velocity feedback (TVFB) scheme, which can be plugged into existing joint servos (PI velocity controllers) using a nonlinear state-observer based on a physically parameterized dynamic model of the elastic-joint robot arm. The feedback gains of the observer are set to be identical to the PI gains tuned for the existing joint servos. Thus, the nonlinear observer, which estimates the torsion-angular velocity, is designless. This paper proposes a simple gain-scheduling scheme with a few hand-tuned state-feedback gains for improving the stability of the TVFB, taking the arm-posture and payload changes into consideration. We only have to manually tune a few state-feedback gains. Several experiments are conducted to demonstrate the vibration-suppression and fast-positioning capabilities of the improved TVFB using the elastic-joint robot arm.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.135 No.5 （2015）

本誌掲載ページ: 571-581 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejias/135/5/135_571/_article/-char/ja/