High-Speed Adaptive Control of a Robot Manipulator
Yohji Okada*, Eiichi Suzuki** and Kenichi Matsuda***
*Dept. of Mechanical Eng. Ibaraki Univ., Hitachi, Japan 316
**Engineer, Shizuoka NEC Co.
***Research Assistant, Dept. of Mechanical Eng. Ibaraki Univ.
One of the biggest problems of realizing fast motion of a robot manipulator is its dynamic reflection. The driving torque calculated from the mathematical model compensates well for this reflection, but the dynamic property changes according to the clamped load and arm position. This paper introduces a high-speed adaptive control technique using identification. First, the manipulator is controlled only by a planned trajectory. A time series identification is then applied to estimate the robot dynamics. The inverse transfer function is used to calculate the actuating signal which produces the highspeed motion of the next cycle. The proposed technique is applied to 3-dimensional positioning of a multijoint manipulator.