Position control of robot's rotational axis having parallel link mechanism

평형링크 메카니즘이 있는 관절형 로보트 회전축의 위치제어

In the course of robot control system building, there are problems in the position control loop of 3rd axis of robot manipulator. The problems are summerized as two: one is uncontrollability of position and the other is oscillation. And these problems are analyzed through experiment, and it is known that the cause of problems in torsional vibration of 3rd axis. So that these two problems are solved by noise immunity enhancement and lowering of PI controller gain.