Regelung des Nichtlinear Gekoppelten Mehrgrössensystems Roboter

Summary

The mathematical model of the industrial robot is the base for designing his control. The model is a nonlinear coupled system of 2. order with state variables as output. Decoupling is achieved by choosing the actuating signal as it is given by the equations describing the motion of the robot. The decoupling can be considered as a feedforward compensation of disturbances and a feedforward adaptive control. After decoupling one gets decoupled double integrators.

The PD and PID state controller with use of the setpoint’s acceleration are favourable control methods. A cascade control system with position- and velocity-control is a special case of the state controller. If there exists a strong limitation of the actuating signal the state controller reaches almost the speed of the time optimal control without showing oscillation of the actuating signal near the resting position.

If the setpoint is given in a sensor’s coordinate system the control should be better done in the robot’s coordinatesystem because then the transformation of the actuating signal can be avoided.

In usual robots the velocity depending couplings are negligible while those which depend on the robot’s position are remarkable.

For the realization of decoupling control a multiprocessor computer-system is recommended.