This thesis describes a design of the dynamic robot arm controller concerned with two points of view, robustness and minimum tracking error. A new approach to the robust control of robot arm, which is the IEFC model(In-out Error Feedforward Compensation model), is developed from the local compen sation to account for variations in the dynamic model and external disturbances using the servo command of motor torque and feedback acceleration. An explicit solution for the minimum tracking error control is obtained from the regulator problem in the error state space given by modifying the tracking control problem.
This control law is applied to the SCARA robot, which is a horizontally articulated manipulator, and the computer simulation results for a dynamic operation are analyzed. Experimental results by using the MC68000 monoboard microcomputer are presented.
