A new robust controller of robotic joint

A measurement and computation method of acceleration for each joint is described. Measured acceleration signals are filtered by a fourth order Butterworth filter. The robust principle of acceleration feedback is analyzed. Nonlinearities and disturbances of the system can be diminished by feeding back a dead zone nonlinearity around the integrator. The overshoot and saturation of the integrator can be reduced by the controller. The general principle of selecting parameters of the dead zone nonlinearity is presented. Thus, a robust joint controller is obtained and control performances of the system are improved.<>