Abstract
The authors propose a novel control method based on two observers to suppress the vibration of a flexible joint, even under fast motion. One observer is a disturbance observer and is used for the realization of an acceleration controller of the motor axis. The other observer estimates the link velocity and is effective for the suppression of torsional vibration. The disturbance observer estimates the total sum of the disturbance torques which are imposed on the motor axis. Feedback compensation by this estimated disturbance torque increases the servo stiffness and the robustness of the motor portion. The feedback of the estimated link velocity totally suppresses the torsional vibration of the flexible joint even under fast motion. The proposed control was implemented in a 16-b microprocessor with a digital signal processor for a laboratory test.
| Original language | English |
|---|---|
| Title of host publication | IECON Proceedings (Industrial Electronics Conference) |
| Publisher | Publ by IEEE |
| Pages | 279-284 |
| Number of pages | 6 |
| Volume | 1 |
| ISBN (Print) | 0879426004 |
| Publication status | Published - 1990 |
| Externally published | Yes |
| Event | 16th Annual Conference of IEEE Industrial Electronics Society - IECON'90 - Pacific Grove, CA, USA Duration: 1990 Nov 27 → 1990 Nov 30 |
Other
| Other | 16th Annual Conference of IEEE Industrial Electronics Society - IECON'90 |
|---|---|
| City | Pacific Grove, CA, USA |
| Period | 90/11/27 → 90/11/30 |
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ASJC Scopus subject areas
- Electrical and Electronic Engineering
Cite this
A motion control of flexible joint based on velocity estimation. / Kaneko, Kenji; Kondo, Shin'ichi; Ohnishi, Kouhei.
IECON Proceedings (Industrial Electronics Conference). Vol. 1 Publ by IEEE, 1990. p. 279-284.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - A motion control of flexible joint based on velocity estimation
AU - Kaneko, Kenji
AU - Kondo, Shin'ichi
AU - Ohnishi, Kouhei
PY - 1990
Y1 - 1990
N2 - The authors propose a novel control method based on two observers to suppress the vibration of a flexible joint, even under fast motion. One observer is a disturbance observer and is used for the realization of an acceleration controller of the motor axis. The other observer estimates the link velocity and is effective for the suppression of torsional vibration. The disturbance observer estimates the total sum of the disturbance torques which are imposed on the motor axis. Feedback compensation by this estimated disturbance torque increases the servo stiffness and the robustness of the motor portion. The feedback of the estimated link velocity totally suppresses the torsional vibration of the flexible joint even under fast motion. The proposed control was implemented in a 16-b microprocessor with a digital signal processor for a laboratory test.
AB - The authors propose a novel control method based on two observers to suppress the vibration of a flexible joint, even under fast motion. One observer is a disturbance observer and is used for the realization of an acceleration controller of the motor axis. The other observer estimates the link velocity and is effective for the suppression of torsional vibration. The disturbance observer estimates the total sum of the disturbance torques which are imposed on the motor axis. Feedback compensation by this estimated disturbance torque increases the servo stiffness and the robustness of the motor portion. The feedback of the estimated link velocity totally suppresses the torsional vibration of the flexible joint even under fast motion. The proposed control was implemented in a 16-b microprocessor with a digital signal processor for a laboratory test.
UR - http://www.scopus.com/inward/record.url?scp=0025576882&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0025576882&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:0025576882
SN - 0879426004
VL - 1
SP - 279
EP - 284
BT - IECON Proceedings (Industrial Electronics Conference)
PB - Publ by IEEE
ER -