Robust control system design for SCARA robots using adaptive pole placement
Takagi, S.
Uchiyama, N.
Dept. of Mech. Eng., Toyohashi Univ. of Technol., Japan;
This paper appears in: Industrial Electronics, IEEE Transactions on
Publication Date: June 2005
Volume: 52,
Issue: 3
On page(s): 915- 921
ISSN: 0278-0046
INSPEC Accession Number: 8457688
Digital Object Identifier: 10.1109/TIE.2005.847578
Current Version Published: 2005-05-31
Abstract
SCARA robots generally have two revolute joints and one prismatic joint. One of the fundamental motions of the robots is horizontal transportation of a load by actuating the two revolute joints. Residual vibration of the prismatic joint generally occurs in the transportation, and it should be suppressed. In this paper, we propose an adaptive controller design for the transportation. The controlled object is modeled as a nonlinear double-input quadruple-output system with unknown mass of load. The controlled object is separated into two single-input double-output systems, which allows us to design an integral controller providing performance robustness with respect to estimation error of the mass. Experimental results demonstrate the effectiveness of the proposed method.
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