Reaction torque feedback based vibration control in multi-degrees of freedom motion system

Masaru Kino, Tatsuhito Goden, Toshiyuki Murakami, Kouhei Ohnishi

Research output: Contribution to conferencePaper

9 Citations (Scopus)

Abstract

This paper presents a position control method in multi-degrees of freedom flexible manipulator. For the control of flexible manipulator, it is easy to construct the controller in each joint. In practical application, however, the workspace is preferred to the joint space for position control of multi-degrees of freedom manipulator. This paper shows a novel control strategy of flexible manipulator in the workspace. First, to suppress the vibration of the arm, the proposed approach introduces the feedback of reaction torque. Second the controller includes a displacement feedback caused by the elastic deformation of the arm to increase the response speed. The combination of the reaction torque feedback in the joint space and the displacement feedback brings the stable and robust position control in multi-degrees of freedom flexible manipulator. The effectiveness of the proposed method is confirmed by several experiments.

Original languageEnglish
Pages1807-1811
Number of pages5
Publication statusPublished - 1998 Jan 1
EventProceedings of the 1998 24th Annual Conference of the IEEE Industrial Electronics Society, IECON. Part 4 (of 4) - Aachen, Ger
Duration: 1998 Aug 311998 Sep 4

Other

OtherProceedings of the 1998 24th Annual Conference of the IEEE Industrial Electronics Society, IECON. Part 4 (of 4)
CityAachen, Ger
Period98/8/3198/9/4

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Reaction torque feedback based vibration control in multi-degrees of freedom motion system'. Together they form a unique fingerprint.

Cite this