A motion control of flexible joint based on velocity estimation

Kenji Kaneko, Shin'ichi Kondo, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

12 Citations (Scopus)

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 languageEnglish
Title of host publicationSignal Processing and System Control Factory Automation
PublisherPubl by IEEE
Pages279-284
Number of pages6
ISBN (Print)0879426004
Publication statusPublished - 1990 Dec 1
Event16th Annual Conference of IEEE Industrial Electronics Society - IECON'90 - Pacific Grove, CA, USA
Duration: 1990 Nov 271990 Nov 30

Publication series

NameIECON Proceedings (Industrial Electronics Conference)
Volume1

Other

Other16th Annual Conference of IEEE Industrial Electronics Society - IECON'90
CityPacific Grove, CA, USA
Period90/11/2790/11/30

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Kaneko, K., Kondo, S., & Ohnishi, K. (1990). A motion control of flexible joint based on velocity estimation. In Signal Processing and System Control Factory Automation (pp. 279-284). (IECON Proceedings (Industrial Electronics Conference); Vol. 1). Publ by IEEE.