A Motion Control Strategy Based on Equivalent Mass Matrix in Multidegree-of-Freedom Manipulator

This paper describes a decoupling motion control strategy based on equivalent mass matrix in operational space. In the conventional approach, the equivalent mass matrix is defined as a function of Jacobian matrix and inertia of manipulator. Therefore, it is difficult to know the variation of the equivalent mass matrix precisely and to select it arbitrarily. This makes it difficult to realize the decoupling motion controller in the operational space. To improve the above problem, we introduce a robust control strategy based on a disturbance observer. In the observer-based approach, the equivalent mass matrix is determined arbitrarily independently of configuration and inertia variation of the manipulator. First, the equivalent mass matrix based on the robust control is derived. Second, a simplification method of an operational space controller is discussed by using the equivalent mass matrix. Several experimental results are shown to confirm the validity of the proposed methods.