An easy learning and regeneration strategy of robot motion

This paper addresses a method for easy recognition and regeneration of the robot motion initially made by the operator. This method is used for robot motion control to cope with painting, welding job and etc. The main processes are accurate modeling, control design and experimental evaluation. In this study, the models and controllers for all joints of 3DOF robot system are obtained individually. The robust control method based on ℋ_∞ control framework is applied to design the control system for motion control. The experiment by comparison of the robust control method with the existing PID control method is performed on 3DOF robot system. And the results indicate that the proposed designing method is more efficient than the conventional PID method.