A space state approach to flexible robotic joint control

Kouhei Ohnishi, Roberto Oboe

Research output: Contribution to conferencePaper

2 Citations (Scopus)

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 languageEnglish
Pages1295-1299
Number of pages5
Publication statusPublished - 1991 Dec 1
EventProceedings of the 1991 International Conference on Industrial Electronics, Control and Instrumentation - IECON '91 - Kobe, Jpn
Duration: 1991 Oct 281991 Nov 1

Other

OtherProceedings of the 1991 International Conference on Industrial Electronics, Control and Instrumentation - IECON '91
CityKobe, Jpn
Period91/10/2891/11/1

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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    Ohnishi, K., & Oboe, R. (1991). A space state approach to flexible robotic joint control. 1295-1299. Paper presented at Proceedings of the 1991 International Conference on Industrial Electronics, Control and Instrumentation - IECON '91, Kobe, Jpn, .