Abstract
After reviewing the control schemes commonly adopted for the control of an industrial robotic joint, the authors propose a state space approach to this problem which includes the disturbance suppression on both the motor and the arm sides. The use of low-resolution encoders is considered, and the usefulness of a Kalman filter for motion quantities and disturbance estimation is pointed out. Two different estimator schemes are proposed and compared on the basis of computational load and system performance. The effectiveness of the proposed solutions has been tested on an experimental system, realized with a low-stiffness robotic joint, driven by a DC motor, and a digital signal processor (DSP)-based control system. The results of the tests are presented, along with the discussion of the merits and limits of this approach.
| Original language | English |
|---|---|
| Title of host publication | IECON Proceedings (Industrial Electronics Conference) |
| Publisher | Publ by IEEE |
| Pages | 1295-1299 |
| Number of pages | 5 |
| Volume | 2 |
| Publication status | Published - 1991 |
| Event | Proceedings of the 1991 International Conference on Industrial Electronics, Control and Instrumentation - IECON '91 - Kobe, Jpn Duration: 1991 Oct 28 → 1991 Nov 1 |
Other
| Other | Proceedings of the 1991 International Conference on Industrial Electronics, Control and Instrumentation - IECON '91 |
|---|---|
| City | Kobe, Jpn |
| Period | 91/10/28 → 91/11/1 |
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ASJC Scopus subject areas
- Electrical and Electronic Engineering
Cite this
A space state approach to flexible robotic joint control. / Ohnishi, Kouhei; Oboe, Roberto.
IECON Proceedings (Industrial Electronics Conference). Vol. 2 Publ by IEEE, 1991. p. 1295-1299.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - A space state approach to flexible robotic joint control
AU - Ohnishi, Kouhei
AU - Oboe, Roberto
PY - 1991
Y1 - 1991
N2 - After reviewing the control schemes commonly adopted for the control of an industrial robotic joint, the authors propose a state space approach to this problem which includes the disturbance suppression on both the motor and the arm sides. The use of low-resolution encoders is considered, and the usefulness of a Kalman filter for motion quantities and disturbance estimation is pointed out. Two different estimator schemes are proposed and compared on the basis of computational load and system performance. The effectiveness of the proposed solutions has been tested on an experimental system, realized with a low-stiffness robotic joint, driven by a DC motor, and a digital signal processor (DSP)-based control system. The results of the tests are presented, along with the discussion of the merits and limits of this approach.
AB - After reviewing the control schemes commonly adopted for the control of an industrial robotic joint, the authors propose a state space approach to this problem which includes the disturbance suppression on both the motor and the arm sides. The use of low-resolution encoders is considered, and the usefulness of a Kalman filter for motion quantities and disturbance estimation is pointed out. Two different estimator schemes are proposed and compared on the basis of computational load and system performance. The effectiveness of the proposed solutions has been tested on an experimental system, realized with a low-stiffness robotic joint, driven by a DC motor, and a digital signal processor (DSP)-based control system. The results of the tests are presented, along with the discussion of the merits and limits of this approach.
UR - http://www.scopus.com/inward/record.url?scp=0026379978&partnerID=8YFLogxK
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M3 - Conference contribution
AN - SCOPUS:0026379978
VL - 2
SP - 1295
EP - 1299
BT - IECON Proceedings (Industrial Electronics Conference)
PB - Publ by IEEE
ER -