A Basic Study on the Speed-up of Robot Motions
acceleration type regulator
The control techniques for the high-speed motion of robot manipulators have been investigated using a straight position control system having only one degree of freedom along its horizontal moving direction. In the acceleration-evaluating type optimal regulator system, the greater the acceleration evaluation in its performance index, the more noticeable becomes the speed-up of the motion. Especially in the modified acceleration regulator system with a prescribed degree of stability σ, the best settling time (Ts)= 0.4 sec can be achieved. In the VSS sliding mode control system proposed by Yeung, the approximately similar settling time is also realized with chattering to some extent.
Departmental Bulletin Paper