Manipulator motion control based on a robust acceleration controller

Abstract

This paper proposes fast motion control of a robot manipulator based on a robust acceleration controller. This acceleration controller is constructed using a mixed sensitivity problem in H∞ control. The paper discusses the frequency performance taking sensor noise effects and disturbance rejection into account systematically. Moreover, this paper realizes a fast continuous path tracking control system based on the H∞ acceleration controller. This control system is constructed using only position information, and it makes the multi-degrees-of-freedom motion control system simpler.