Upper limit of performance for contour control of industrial articulated robot arm with torque constraints and its realization

摘要

Performance at high speed with high accuracy is required for contour control of industrial robot arms. Torque saturation exsiting in the industrial robot arms often causes deterioration of contour control performance. In this research, the following items of the contour control performance of industrial articulated robot arms under torque constraints is considered; 1. derivation of a relationship among the torque, accuracy of the trajectories and operation speed, 2. clarification of the upper limit of the contour control performances of industrial articulated robot arms, 3. proposal of the contour control method which enables the best contour control performance under the torque constraints. The effectiveness of the proposed contour control method was assured by experimental results of an actual industrial robot arm.