ROBUST DECOUPLIMG CONTROL FOR ARTICULATED ROBOT

In an articulated robot, coupling forces are generated between the joi nts. To improve dynamic behavior and reduce the work cycle time, it is necessary to compensate for the force generated between the joints. I n this paper, robot dynamics are expressed in a linear form by applyin g a gain scheduling method and then transformed into a discrete form. A simple control algorithm is proposed which can perform the decouplin g and the pole assignment simultaneously by using an observer with a d isturbance compensation function. The results, based on experiments wi th a SCARA-type robot, show that the proposed approach can compensate for the coupling force between joints.