Joint acceleration feedback control for robots: analysis, sensing and experiments

Independent joint control for robots is enhanced to suppress the dynamic co uplings by incorporating an acceleration feedback loop that is designed in terms of its stability and ability in resisting the dynamic coupling distur bances. The sensing and modeling of joint acceleration via linear accelerom eters is dealt from the viewpoint of practical implementation. Extensive ex periments are conducted on a three-link direct drive robot, to mainly inves tigate the ability of the independent joint controller with the acceleratio n loop in resisting the coupling torque, and demonstrating the enhanced tra jectory tracking performance. Results are given against the ones obtained b y conventional independent joint control without the acceleration feedback control. (C) 2000 Elsevier Science Ltd. All rights reserved.