Precise Position Control of Robot Arm Using Liquid Crystal Electrorheological Fluid Based on H.INF. Control Theory.
Precise Position Control of Robot Arm Using Liquid Crystal Electrorheological Fluid Based on H.INF. Control Theory.
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基于H.INF的液晶电流变液机器人手臂精确位置控制
DOI：
10.1299/kikaic.61.2501
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发表时间：
1995
期刊：
影响因子：
--
通讯作者：
Shigeo Koga
中科院分区：
文献类型：
--
作者：
J. Furusho;A. Sano;Shigeo Koga
通常，在工业机器人的控制中采用半闭环方法，该方法利用从安装在伺服器上的编码器获得的信号。在该方法中，末端执行器的位置不能非常精确地控制。因此，我们的目标是应用闭环控制，其使用在终点直接测量的绝对位置。然而，由于驱动系统的灵活性，基于这种方法控制手臂非常困难。在本研究中，一个机器人手臂与阻尼器使用电流变液的发展，以提高稳定性。然后将闭环控制方法应用于机器人手臂末端的定位，并利用H∞控制理论中的混合灵敏度问题推导出反馈控制器。
In general, a semiclosed loop method which utilizes the signal obtained from an encoder mounted on a servomotor, is adopted in the control of industrial robots. In this method, the position of the end-effector is not controlled very accurately. Therefore, we aim to apply a closed loop control which uses the absolute position measured directly at the end-point. However, it is very difficult to control the arm based on this method because of the flexibility of the driving system. In this study, a robot arm with the damper using electrorheological fluid is developed in order to improve the stability. Then the closed loop method is applyed to the positioning of the end-point of the arm. The feedback-controller is derived by using the mixed sensitivity problem of H∞ control theory.