TY - GEN
T1 - Recursive control of robot manipulator with elasticity
AU - Yan, H.
AU - Murakami, T.
AU - Yuki, K.
AU - Ohnishi, K.
PY - 1993/12/1
Y1 - 1993/12/1
N2 - This paper presents an advanced method for suppressing torsional vibration of a flexible joint which connects a motor shaft and a driven arm. In the proposed method, at first, the position controller is designed on the basis of a model of rigid arm by recursive control law. After that, a compensation element is added to increase the stability of the total system, where only motor velocity is used for the purpose. The proposed method realizes a robust control and because of its model-free structure it is easy to implement the proposed algorithm. Experimental results are also presented to show its effectiveness.
AB - This paper presents an advanced method for suppressing torsional vibration of a flexible joint which connects a motor shaft and a driven arm. In the proposed method, at first, the position controller is designed on the basis of a model of rigid arm by recursive control law. After that, a compensation element is added to increase the stability of the total system, where only motor velocity is used for the purpose. The proposed method realizes a robust control and because of its model-free structure it is easy to implement the proposed algorithm. Experimental results are also presented to show its effectiveness.
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M3 - Conference contribution
AN - SCOPUS:0027880512
SN - 0852965877
T3 - IEE Conference Publication
SP - 468
EP - 473
BT - Drives I
A2 - Anon, null
PB - Publ by IEE
T2 - Proceedings of the 5th European Conference on Power Electronics and Applications
Y2 - 13 September 1993 through 16 September 1993
ER -