High Accuracy Positioning in SCARA-Type Robot by Sensor-based Decoupling Control

Author:

Shiraishi M.1,Sugano S.1,Aoshima S.1

Affiliation:

1. Faculty of Engineering, Ibaraki University, 4-12-1 Nakanarusawa, Hitachi, 316 Japan

Abstract

To compensate for the effects of coupling torque and load variations experienced in SCARA-type robots, we propose a new method of sensor-based decoupling control. In this method the plant is first nominalized with the use of a disturbance observer and then nonlinear feedback control is accomplished by this nominalized system based on information from acceleration sensors installed at the end of the robot hand. As a result of high-speed reciprocal motion with a payload of 10 kg mounted on the hand, we were able to achieve satisfactory decoupling using this method. Improvements were also made in steady-state characteristics. [S1087-1357(00)01201-6]

Publisher

ASME International

Subject

Industrial and Manufacturing Engineering,Computer Science Applications,Mechanical Engineering,Control and Systems Engineering

Reference6 articles.

1. Yoshikawa, T. , 1989, “Digital Control by Calculated Torque Method,” J. Robotics Soc. Jpn., 7, No. 3, pp. 237–242 (in Japanese).

2. Mita, T., and Kaku, Y., 1987, “Trajectory Control of Robot Manipulators,” Jpn. J. Electr. Eng., Ser. D, 107, No. 1, pp. 77–82 (in Japanese).

3. Luh, J. Y. S., Walker, M. W., and Paul, R. P. C., 1980, “Resolved Acceleration Control of Mechanical Manipulators,” IEEE Trans. Autom. Control., AC-25, pp. 468–473.

4. Bickel, R. J., and Tomizuka, M., 1994, “Design of Robust Tracking Controller in the Discrete Time Domain,” in Proceedings of the 3rd International Workshop on Advanced Motion Control, pp. 32–38.

5. Hsia, T. C., 1992, “Decoupled Robust Joint Control of Robot Manipulators,” in Proceedings of the 2nd IEEE International Workshop on Advanced Motion Control, pp. 1–8.

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