A motion control of flexible joint based on velocity estimation

Kenji Kaneko; Shin'ichi Kondo; Kouhei Ohnishi

A motion control of flexible joint based on velocity estimation

Kenji Kaneko, Shin'ichi Kondo, Kouhei Ohnishi

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	Signal Processing and System Control Factory Automation
Publisher	Publ by IEEE
Pages	279-284
Number of pages	6
ISBN (Print)	0879426004
Publication status	Published - 1990 Dec 1
Event	16th Annual Conference of IEEE Industrial Electronics Society - IECON'90 - Pacific Grove, CA, USA Duration: 1990 Nov 27 → 1990 Nov 30

Publication series

Name	IECON Proceedings (Industrial Electronics Conference)
Volume	1

Other

Other	16th Annual Conference of IEEE Industrial Electronics Society - IECON'90
City	Pacific Grove, CA, USA
Period	90/11/27 → 90/11/30

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

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AU - Kaneko, Kenji

AU - Kondo, Shin'ichi

AU - Ohnishi, Kouhei

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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.

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BT - Signal Processing and System Control Factory Automation

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T2 - 16th Annual Conference of IEEE Industrial Electronics Society - IECON'90

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