A discussion is presented of the joint motion control problem of a multidegrees of freedom manipulator where the interference force should be taken into account. As one solution of this problem, the observer-based position servo system is proposed. The observer can estimate the sum of all the interference torque, and the feedforward path suppresses immediately its influence. As a result, the decentralized autonomous control is expected to be realized by using this servo system as a position controller of each joint.
|出版ステータス||Published - 1986 12月 1|
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