High Performance Control of Robot Manipulator without Inverse Dynamics

逆动力学已成为高精度机器人控制中必不可少的技术。在本研究中，我们提出了一种不使用逆动力学的机器人控制新范式。所提出的方法是基于鲁棒伺服控制器实现在每个关节。实际上，我们证明了这种方法即使在DD（直接驱动）机械手的控制中也足够有效，其中关节之间的干扰力非常强（1）鲁棒关节伺服控制器13 EA 03：我们提出了两个自由度控制器，以提高抗干扰能力和对参数变化的鲁棒性。我们澄清了各种控制器之间的关系。研究了鲁棒伺服系统的稳定性问题，证明了所提出的方法可以用非常简单的控制硬件实现，并具有足够的稳定性。此外，即使当编码器脉冲分辨率小时，瞬时速度观测器也实现了高鲁棒性。(2)机器人多种控制方式的统一实现方法 ...更多信息 rolBased的建议统一的方法，我们实现了几乎所有类型的机器人控制，即，阻抗、柔顺运动、力和混合控制。我们通过实验证明了它们的有效性。(3)鲁棒力控制在不使用任何自适应或学习技术的情况下，通过具有固定系数的鲁棒控制器实现了对各种物体的抓取。(4)碰撞控制我们提出了一种新的方法，以减少碰撞造成的冲击力时，轨迹控制改为力控制。我们使用了一个力传感器或一个简单的干扰观测器来检测碰撞。我们还开发了高速算法来执行无碰撞路径规划。(5)柔性关节的控制基于2-惯量模型作为被控对象，提出了各种抑制振动的方法：状态观测器、H ~* 控制器等，特别是提出了利用扰动观测器的共振比控制，并通过仿真和实验验证了其有效性。少

Inverse dynamics has been a necessary technique in high pcrformance robot control. In this research, we proposed the new paradigm of robot control without using inverse dynamics. The proposed method is based on the robust servo controller implemented in each joint. In actuality, we showed that this method is effective enough even in the control of DD(Direct Drive)manipulator, where the interference force among joints are very strong(1) Robust Joint Servo Controller13EA03 : We proposed the Two-Degree-Of-Freedom controller to improve the disturbance rejection and robustness to parameter variation. We clarified the relation among various controllers. We investigated the stability problcm of robust servo system and proved that the proposed method can be realized with enough stability using very simple control hardware. Further, the instantaneous speed observer which realizes the high robustness even when the encoder pulse resolution is small.(2) Unified Method to Realize Various Robot Cont … More rolBased on the proposed unified approach, we realized almost all types of robot control, ie., impedance, compliant motion, force and hybrid controls. We showed their effectiveness by experiments.(3) Robust Force Control We realized the novel method to grasp various objects by the robust controller with fixed coefficients without using any adaptive or learning techniques.(4) Collision ControlWe developed the novel method to reduce the impact force caused by collision when trajectory control is changed to force control. We used a force sensor or a simple disturbance observer to detect the collision. We also developed the high speed algorithm to perform the collision-free path planning.(5) Control of Flexible JointBased on the 2-inertia model to represent the controlled object, we proposed various methods to suppress the vibration : state observer, H* controller, etc. In particular, we proposed the resonance ratio control using the disturbancc observer and showcd its effectiveness by simulation and experiment. Less