| Abstract: | This paper proposes a simple and robust robot motion control method using a robust velocity controller. The robust velocity controller is based on H∞ control theory, and is called H∞ velocity controller. The H∞ velocity controller based motion control method is completely equivalent to the robust acceleration control method using the H∞ acceleration controller, but it has simpler structure. Therefore, the proposed system can realize a fine robot motion control easily. To confirm the validity of the proposed method, this paper realizes the hybrid control of position and force for a multijoint robot manipulator. Further, the simple realization of hybrid control is proposed considering the attitude of the robot manipulator. This system achieves hybrid control of position and force of the robot manipulator while maintaining a perpendicular attitude to the target environment. The experimental results in this paper show that the proposed system has the desired force and position response to the target environment. © 1997 Scripta Technica, Inc. Electr Eng Jpn, 118 (4): 58–69, 1997 |
