Decoupling control of 2-link manipulator with model following control and proposed control gains design (ICCAS 2012)

In this paper, a new decoupling control scheme of 2-link industrial manipulator with application of the model following control has been proposed. Compensation torque used for removing interference force between two arms of the manipulator has been designed in feed-forward control loop. Compared with the conventional scheme, the proposed scheme is more simple and realistic to be taken in to practice for general purpose controllers. And, a new design consideration for control gains has also been shown. Moreover, disturbance observer is applied to cope with model error problem in feed-back control loop. Effectiveness of the proposed decoupling control scheme has been confirmed through simulation results.