관성모멘트의 균형을 이용하는 간접구동관절을 갖는 로보트아암의 각위치 제어를 위한 가변구조제어기의 다중 제어법칙 설계

The multiple Control Law Design of the Variable Structure Control for Angular Position Control of the Robot Arm with an Indirect Driving Joint Using Balance of the Inertial Moment

We have developed the unconventional robot arm which is composed of the two main parts, one is a ball screw and the other is a robot arm. The dynamic systems of the robot arm and ball screw are unstable systems coupled with each other. The ball screw mechanism is unstable system but controllable system. The robot arm's dynamics is quasi stable system when ball screw's angular position is zero, else, unstable system. Our system has the duality between stability and controllability at the view point of control. This duality causes difficulty to control of the robot arm using normal control law. We have investigated the location of the characteristic roots of the dynamic equation. And we have found out that the best condition for the control of the arm is quasi stable state. In this paper, we have proposed multiple control laws which are consist of three components to guarantee the stability and controllability simultaneously. The computer simulations were carried out based on VSC about the angular position control of the robot arm, and it is confirmed that the good performances could be obtained by using new controller.