유연한 단일축 로보트 팔의 위치제어

A Study on Position control of a Flexible One-Link Robot Arm

  • 송봉기 (서울대 대학원 제어계측공학과) ;
  • 최종호 (서울대 공대 제어계측공학과)
  • 발행 : 1991.02.01

초록

In this paper, an output feedback is used to reduce the effect of the vibration in the control of a flexible one-link robot arm. A PD control method with a time varying gain is proposed to improve the performance of the system in tip deflection and settling time for the step reference input. By making the change of feedback gain smoothly, th input torque can be made smooth. When there is a payload with unknown mass, an interpolation method which uses the inrehgrated value of the transient response of the hub angle is proposed for the estimation of teh payload mass. This method can be used when the reference input is known and we can get highly accurate estimate for the unknown payload. It is also demonstrated that flexible one-link arm can be controlled prettry accurately by an output feedback in a noisy environment without knowing the mass of the payload.

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