Motion Control of Flexible Joint

Kenji Kaneko, Kouhei Ohnishi

Research output: Contribution to journalArticle

Abstract

This paper proposes an advanced control of flexible joint. Industrial robots generally have the elastic elements in the torque transmission. The torsional vibration is caused when the motion response is fast. This vibration deteriorates the motion of the joint. In the flexible joint control, it is important to increase the stability of the system in the wide motion range. In the proposed method, to obtain the stability of the system, state feedback is applied. For the purpose, the concept of an acceleration controller of the motor axis is applied. This controller is realized by the disturbance observer. The proposed method brings more robust control and the paper also shows the experimental results.

Original languageEnglish
Pages (from-to)282-288
Number of pages7
JournalIEEJ Transactions on Industry Applications
Volume111
Issue number4
DOIs
Publication statusPublished - 1991

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

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