特集論文 Robust Motion Control of Industrial Robot Based on Robot Parameter Identification and Feedforward Control Considering Resonant Frequency (特集:モーションコントロールとその計測・センサ)
特集論文 Robust Motion Control of Industrial Robot Based on Robot Parameter Identification and Feedforward Control Considering Resonant Frequency (特集:モーションコントロールとその計測・センサ)
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专题论文基于机器人参数识别和考虑谐振频率的前馈控制的工业机器人鲁棒运动控制（专题：运动控制及其测量/传感器）
DOI：
10.1541/ieejias.125.568
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发表时间：
2005
期刊：
影响因子：
--
通讯作者：
T. Miyazaki
中科院分区：
文献类型：
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作者：
S. Tungpataratanawong;K. Ohishi;T. Miyazaki
在工业机器人机械手的控制应用中，通常将二惯量谐振系统表示为各种控制方案的基本对象模型。已经提出了具有部分反馈线性化的各种控制技术来实现高性能运动控制。此类控制器的设计基本上依赖于系统机械参数。仅根据机械臂力和运动测量进行参数识别并不能获得合适的模型参数。本文利用柔性关节的开环谐振频率特性来确定二惯量模型的适当机械参数。通过这种新颖的识别方法可以轻松测量齿轮传动的标称连杆惯量和弹簧常数。将辨识出的参数应用于传统PD控制方案和鲁棒控制方案的独立联合控制器设计中，验证了辨识方法的有效性。此外，所提出的基于前馈逆动态补偿和D-PD位置控制的鲁棒控制方案的精度提高支持了所提出的辨识方法的有效性。
In control application of industrial robot manipulator, a two-inertia resonant system is normally represented as the basic plant model for various control schemes. Various control techniques with partially feedback linearization have been proposed to achieve high performance motion control. The design of such controllers basically relies on system mechanical parameters. The proper parameters of the model cannot be obtained by the parameter identification based on only manipulator force and motion measurements. In this paper, the open-loop resonant frequency characteristic of the flexible joint is employed to identify the proper mechanical parameters of the two-inertia model. The nominal link inertia and spring constant of gear drive can be readily measured by this novel identification method. The identified parameters are used in independent-joint controller design for conventional PD control scheme and robust control scheme to verify the effectiveness of the proposed identification method. Moreover, the accuracy improvement of the proposed robust control scheme based on feedforward inverse dynamic compensation and D-PD position control gives support the validity of the proposed identification method.