DECOUPLING CONTROL AND DISTURBANCE REJECTION OF MECHANICAL MANIPULATORS WITH PARTIALLY KNOWN DYNAMICS

It is known now that the dynamics of the motor drives of mechanical ma nipulators is of utmost importance and it is necessary to take this in to account in achieving high control performance. At the same time, it is also known that the cross-coupled motor-manipulator dynamics is mo re complex and hence more difficult to be controlled than when only th e manipulator dynamics is considered. In this paper, the dynamics of b oth the actuator and mechanical manipulator are considered together an d a control strategy is developed for achieving ease of controller des ign and high control performance. By using the algorithm developed in this paper, not only can the highly complicated motor-manipulator dyna mics be effectively controlled, but the motors are also made sensitive for sensing and compensating for the uncertain dynamics acting at man ipulator joints. Furthermore, as a significant result, the modelling d ifficulty and control complexity of the manipulator dynamics can be si gnificantly reduced.