탄성관절을 갖는 로보트 매니퓰레이터의 안정한 합성제어기 설계

A stable composite controller design for flexible joint robot manipulators

This paper presents a new stable composite control law for the flexible joint robot manipulators, which incorporate the additional stabilizing control law with sliding property. The singularly perturbated models include inertia moments functions of the deformations of actuator. The newly defined fast controller variable is computed from the corrected reduced-order model without additional computational loads. The simulations for 2 DOF flexible joint manipulator show that the proposed schemes are more stable than conventional one, and especially effective for the manipulator with high joint-flexibilities.