Motion control strategy of industrial robot for vibration suppression and little positioning phase error

Hisashi Kataoka, Kiyoshi Ohishi, Toshimasa Miyazaki, Seiichiro Katsura, Hisashi Takuma

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

This paper proposes a new motion control strategy for industrial robots. It is important for industrial robots to drive high speed and high accuracy. However, the vibration is generated by the resonant phenomenon and the interference from other axes in such cases. In the proposed strategy, those two problems are overcome. For the resonant vibration, the new reference filtering method is used. It is consisted of the notch filter and the phase compensation gain. Using the notch filter, the resonant phenomenon is suppressed. Using the phase compensation gain, the reference phase error by the notch filter is improved. For the interference from other axes, the dynamic torque compensation is used. The disturbance torque from other axes is computed by the inverse-dynamic torque computation. The simulation results and the experimental results show that the proposed strategy is superior to suppress the vibration and improves the phase error.

Original languageEnglish
Title of host publicationAMC'08 - 10th International Workshop on Advanced Motion Control, Proceedings
Pages661-666
Number of pages6
DOIs
Publication statusPublished - 2008 Dec 1
Externally publishedYes
Event10th International Workshop on Advanced Motion Control, AMC'08 - Trento, Italy
Duration: 2008 Mar 262008 Mar 28

Publication series

NameInternational Workshop on Advanced Motion Control, AMC
Volume1

Other

Other10th International Workshop on Advanced Motion Control, AMC'08
CountryItaly
CityTrento
Period08/3/2608/3/28

ASJC Scopus subject areas

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

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  • Cite this

    Kataoka, H., Ohishi, K., Miyazaki, T., Katsura, S., & Takuma, H. (2008). Motion control strategy of industrial robot for vibration suppression and little positioning phase error. In AMC'08 - 10th International Workshop on Advanced Motion Control, Proceedings (pp. 661-666). [4516145] (International Workshop on Advanced Motion Control, AMC; Vol. 1). https://doi.org/10.1109/AMC.2008.4516145