Inertia Analysis and Motion Control of a Clean-room Manipulater

Aiming at the influence of the inertia of a clean-room manipulater on the system performance,based on creating the relation of inertia and position using the kinetic energy formula,the paper presents a kind of control strategy with position PI closed loop and feed-forward paraneter tuning.The control strategy is that gaining inertia real-time from position,and tuning paraneter PI using the inertia.The simulation results show that it Can not only restrain the influence of the variant inertia on the system performance efectively,but also be implemented more easily.