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Robust motion control with autonomous consideration algorithm of joint torque saturation

As each joint actuator of a robot manipulator has a limit value of torque, the motion control system should consider the torque saturation. The conventional motion control based on a robust acceleration controller can not consider the torque saturation, and it often has an oscillated or wrong response caused by it. This paper proposes the new autonomous consideration method of joint torque saturation for robust manipulator motion control. The proposed method consists of the three on-line autonomous algorithms. These algorithms are the torque limiting algorithm in joint space, the motion control adjusting algorithm in Cartesian space and the motion reference adjusting algorithm in Cartesian space. The robot motion control using the proposed algorithms well realizes the robot motion response smoothly and robustly, in spite of having a large payload.