제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지

A gain scheduling method for the vibration suppression servo controller of articulated robots

  • Lee, Sang-Hun (Electro-Mechanical Research Institute, Hyundai Heavy Industries Co., Ltd.) ;
  • Yim, Jong-Guk (Department of Precision Mechanical Engineering, Hanyang Univ.) ;
  • Hur, Jong-Sung (Electro-Mechanical Research Institute, Hyundai Heavy Industries Co., Ltd.) ;
  • Park, Jong-Hyeon (School of Mechanical Engineering, Hanyang Univ.)
  • Published : 2003.10.22
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Abstract

In this study we present a vibration controller for articulated robots that has flexible joints modeled as a 2-mass system. Most of articulated robots have time varying load inertias for each axis according to its motion. Moreover, the inertias vary drastically; for the base axis of articulated robots it may vary about 10 times of its minimum value. But, for industrial robots and many mechatronic devices, it is desirable to maintain control performance in spite of load inertia variation. So we propose a control gain adjustment rule considering the time-varying nature of load inertia. In this gain-adjusting algorithm, the pole locations are in proportion to the anti-resonance frequency of the 2-mass system. The simulation and experimental results show uniform properties in overshoot in spite of the variation of load.

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