Regelung eines Industrie-Roboters mit Hilfe eines adaptiven Beobachters

Summary

A robot is generally not a completely rigid structure. Robot axes, which may be approximately described as twin-mass elastic systems, can be noticeably improved in their control behaviour by means of an adaptive observer. In the concept presented here the observer is extended to take account of friction and gear backlash. Until now identification is carried out by the method of steepest descent. Parameterization and adaption of controller and observer are achieved by the double ratio method. A primary control backed up by the observer (compensation of friction and backlash) improves the control performance, particularly in the creep speed range.