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The International Journal of Robotics Research
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Robust Control of Robot Manipulators Based on Joint Torque Sensor Information

Jun-ichi Imura

Department of Mechanical Engineering Faculty of Engineering, Kyoto University Kyoto 606, Japan

Yasuyoshi Yokokohji

Department of Mechanical Engineering Faculty of Engineering, Kyoto University Kyoto 606, Japan

Tsuneo Yoshikawa

Department of Mechanical Engineering Faculty of Engineering, Kyoto University Kyoto 606, Japan

Toshiharu Sugie

Division of Applied Systems Science Kyoto University Uji, Kyoto 611, Japan

This article is concerned with robust control of robot manip ulators in the case where joint torque sensors are available. First, we derive a dynamic equation of the manipulator with joint torque sensors that explicitly expresses a nonlinear mul tivariable structure. This dynamic equation makes it possible to construct the control systems of the manipulators with joint torque sensors based on a similar method used in the conven tional case without the sensors. Second. based on this dynamic equation, we propose a robust trajectory control scheme that achieves the specified tracking accuracy in the presence of modeling error, including the modeling error of actuator sys tems. The proposed method fully exploits joint torque sensor information to compensate the uncertainty of link and load parameters. Furthermore, an illustrative simulation result is given to show the effectiveness of the proposed control method.

The International Journal of Robotics Research, Vol. 13, No. 5, 434-442 (1994)
DOI: 10.1177/027836499401300504
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