| 摘要 |
PCT No. PCT/JP93/00995 Sec. 371 Date Mar. 14, 1994 Sec. 102(e) Date Mar. 14, 1994 PCT Filed Jul. 16, 1993 PCT Pub. No. WO94/02989 PCT Pub. Date Feb. 3, 1994A method of obtaining a very robust adaptive PI control method irrespective of fluctuation of parameters of a control object, wherein (speed command r-actual speed y) is used as a state variable Suf. Estimated values J*, A*, Gr*, and C* of inertia, coefficient of dynamic friction, gravitational disturbance depending on a robot angle, and Coulomb's friction, respectively, are obtained and a torque command tau is obtained in accordance with the following equation so as to cancel an error between each of the estimated values and its actual value to zero. tau =K2xSuf+(K1/s)xSuf+J*xr'+A*xy+Gr*xsin theta +Cf*+ tau 1.The first and second terms of the right side of the above equation are identical with a torque command obtained by the PI control. Furthermore, r' represents an acceleration of command; theta represents a rotational angle of a robot arm; and tau 1 represents a switching input corresponding to miscellaneous disturbance. As an error between each of the estimated values and its actual value becomes zero, a relationship of speed command r=actual speed y is obtained and therefore an adaptive PI control of a transfer function "1" is obtained.
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