OPERATION POINT POSITION CONTROL SYSTEM FOR FLEXIBLE MANIPULATOR

摘要

PURPOSE:To predict a shift in operation point position due to deflection, etc., and correct and alter a control command by the predicted quantity by adding a nonlinear model for predicting residue characteristics of a rigid body forward kinematic arithmetic means to the rigid body forward kinematic arithmetic means. CONSTITUTION:This system is equipped with a rigid body forward kinematic model 2 where the complete rigidity of an arm is assumed and its backward kinematic model and further provided with a neural network residue prediction part 5 and a hand tip position correction part 6. For a desired hand tip position rd of a multiaxis articulation driving device 1, tentative articulation displacement thetad which provides the position is calculated on the basis of the rigid body backward kinetic model 3. The residue prediction part 5 outputs a predicted hand tip position error DELTAN corresponding to the tentative articulation displacement thetad and calculates r* after the desired hand tip position rd is corrected by DELTAN. Then target articulation displacement theta* which provides r* is calculated again from the backward kinetic model 3 and supplied as a command to each articulation driving servo motor of the device 1 to perform position control. Consequently, the total control precision can be improved.