Motion control for advanced mechatronics

Ohnishi Kouhei, Masaaki Shibata, Toshiyuki Murakami

Research output: Contribution to journalArticle

1517 Citations (Scopus)

Abstract

Motion control is now recognized as a key technology in mechatronics. The robustness of motion control will be represented as a function of stiffness and a basis for practical realization. Target of motion is parameterized by control stiffness which could be variable according to the task reference. However, the system robustness of motion always requires very high stiffness in the controller. The paper shows that control of acceleration realizes specified motion simultaneously with keeping the robustness very high. The acceleration is a bridge to connect such robustness and variable stiffness. For practical applications, a technique to estimate disturbance is introduced to make motion controller to be an acceleration controller. Motion control of flexible structure and identification of mechanical parameters are also described.

Original languageEnglish
Pages (from-to)56-67
Number of pages12
JournalIEEE/ASME Transactions on Mechatronics
Volume1
Issue number1
DOIs
Publication statusPublished - 1996 Dec 1

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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