ROBUST-CONTROL OF A ROBOT

Control algorithms that ensure asymptotic suppression of elastic vibrations and path tracking are developed for a robot of arbitrary structure with elastic joints controlled by electric drives and with unknown useful load. The algorithms are based on the application of high-speed observers of order not higher than the third with constant coefficients, and utilize only information from the motor current transducers and the relative position of the links. The elastic joints and programmed motion are controlled independently. The control algorithms are simpler than adaptive algorithms and are free of the drawbacks that are inherent in systems that function in the sliding mode.